[Veselin Kolev]

I have pondered the though for quite a while as well. I see the following pros with the design i came up with: you can use small wheels (about 2" diameter) with a differential in between. Also, you can have a CIM mounted vertically, feeding power straight into the differential. This lets you have a VERY small module turning radius. If you think about it, having bevel gears on a single wheel swerve to have the motor vertical is pretty close in size to having two smaller wheels and a differential, with a vertical motor. Sure, a few more gears, but worth a serious thought.