[FotoPlasma]

Granted, designing and fabricating four of the same gearbox, instead of two each of two seperate designs, can be easier, but it depends on what a team's resources are. Either one could be trivial for a team with professional machine shop support, while a team without that support would probably want a standard design that they could copy for replacements.

I agree with Matt Reiland, however, in that the control system for a swerve drive is probably the more involved part of the design / manufacturing process. Speaking from experience (and I wasn't even the one programming the thing), testing and bugfixing and calibrating and recalibrating and compensating for hardware in software, etc., takes a lot of the time allotted to you for such a project as this.