[EricH]

Originally Posted by AdamHeard

Actually, I found a picture... of 67 in 2005...during build... on the ground, showing all three wheels. A true swerve, with all three wheels able to rotate.

No hard feelings eric

And rotate independently... No wonder the code took so much space in the controller.

Back on topic: If you're going to do 3WD, plan it out first. Carefully. As noted, only one robot (to our knowledge) has had a 3WD omni system; most of the other 3WDs were crab/swerve systems.