I'm already CADing a crab drive in inventor, so I may steal some ideas from the concept from 114ManualLabor. lol I need to learn autodesk anyways so its a good thing. Once that is done, our team plans on building a crab drive and an omniwheel drive to see which one we like better and possibly have rather crappy arms put on them to compete with our '07 bot to see whether drive train or function if more important. (our '07 bot has a really good arm

)