[Munchskull]

Having seen the resources required for good swerve I would recommend against it unless you have access to cnc. That said 2471 does have some amazing modules that were all manual machined.

My suggestion is if you really want swerve work towards that, master the machining over the summer and as time permits make modulesure till you have at least 3. Then give your programming team lots of time to play with them.

While doing this work on making a couple of tank drive designs, my personal favorites are WCD and ECD. Figure out how to master tank drive and you will always have an elegant drive train at you disposal.