Castor/Swerve Drive

A simple, well designed Tank drive beats a complex, mediocre swerve any day. I'm not saying your swerve will be mediocre, but even with years to work on it, the complexity of a serve isn't always worth it.

However, this is a very one-sided opinion, coming from someone who has never built a swerve. I'd talk to someone who's done swerve before (Maybe someone from Team 16, they do awesome swerves) and get their opinion.

Either way, however you do it, please keep us updated as you iterate!