[JesseK]

1717 did diagonal modules rotated by a single motor, with each diagonal rotated independently. This allowed them to translate independent of turn without worrying about the skiding nature of 4 wheels at the corners.

Another thing I'd like to point out from a controls perspective is that any sort of complex translate + spin move needs to be field-centric and not robot-centric. The drivers would have a very difficult time performing it under pressure otherwise.