[s_forbes]

Must be a popular idea; I've also had a design in the works (albeit not something build-able with my kind of resources... more of a Chicken/Wrangler fantasyland robot)

I think it's a killer concept:
- "fast" mode with omnidirectional capability is ideal for offense
- "defense" mode gives you four geared down traction wheels in the corners: great for defending and avoiding being pushed while scoring from a stationary point (like you needed to do in 06/07).
- Uses only four motors!

I love how you get nearly all of the advantages of a drivetrain with swerve modules, but you don't suck up so many motors (only four!). Construction could be simpler as well, if some thought is put into design work.

The one major drawback between this design and the one that 148/217 use is the lack of full power being directed to the floor if you get kicked up on just two wheels (like whenever you would be pushing, for instance). However, this can be resolved by engaging/disengaging the two drive motors on one side. This is what I was aiming for in my model, but it wasn't implemented very well.


PS: If anyone wants a copy of my CAD files, shoot me a PM.