We
were going to do omnis on a swerve drive, but backed down a notch. We're going to mount those omnis on a
twitch drive. In addition to strafe capabilities, when driving forward we can rotate the twitch to achieve what is effectively a CVT (continuously variable transmission).
Seriously, we're doing 2/3 of a kit chassis, geared a bit faster. Driver practice should get the cycle time down farther than tweaking the drive train.