[Lesman]

Ok, I apologize for the terrible lighting, and the lazy sketches, but here's out swivel drive (concept). There are 3 modules, each independently powered (for perfect differential speed) and independently rotated (for perfect turning). The way the chassis is built arround the module requires exactly 6" on either side, leaving the maximum available space for ball collection. The modules are made from aluminum square tubing, all machined on a manual mill and bolted together. There is only one weld, the round tube at the top is welded down into the 1/4" square (milled to a u). The mess at the top of the module is (top to bottom) mounting block with bushing, thrust bearing, aluminum spacer (milled from 1/4" plate), 30 tooth #35 sprocket, another spacer. each drive shaft is powered by 1 chip, and one other motors (the front 2 are densos and the back is a globe). Anyway, I'm just rambling, hopefully this thing gets assembled and wired sometime soon, and I'll have some more usefull information.