Swerve Drivetrain.

[Clem1640]

2011 is our 2nd year of doing Pivot Drive. 1640 is very satisfied with the performance of this drive-train. Our drivers love it! We've designed and built our own. Info is available at:
http://wiki.team1640.com/index.php?t...II_Drive_Train

1640 has taken the approach of independently driving and steering each wheel. This puts a lot of investment into the drive-train, but also provides a fly-by-wire flexibility. Drive modes are programmable. The robot has mecanum agility (or better) with tank traction. A hell of a combination.

This is a great drive-train, but not easy to build or program. Many teams which start a Pivot program fail and abandon it. The AndyMark modules are probably a good starting point.