[jspatz1]

I am not an expert on past FRC rules, don't have them in front of me, and don't have the greatest memory....but, isn't there a rule that says you may not use pre-engineered mechanisms expressly designed to fulfill a primary function of the robot? I don't remember the exact language, but it sure seems to me that systems such as this have crossed that line, wherever it is. As a 4th year team, we have finally gotten ourselves to the point in experience and expertise that we are in the process of developing our own swerve drive. It is a bit discouraging to realize that if you are a team with enough money, you can skip all the engineering and learning, and just buy the major subsystems of your robot.