[EricH]

Originally Posted by cbale2000

That would effectively turn it into a standard 4 wheel tank drive, which might actually be worse for turning due to the scrub it would induce than just staying with swerve enabled.

Depends a lot on wheelbase considerations... Looks like it's a square, or nearly so, so turning shouldn't be as bad as if it was a long-base. And there's always the possibility of a "spin-in-place" mode that would allow for quick turns.