Quote:
Originally Posted by cbale2000
You're correct, I had to think about it a while to realize that issue. You could potentially do it with half of the wheels as omnis (alternating every other), though that's not the most practical.
I'm still of the opinion though that using omnis on a swerve drive defeats the purpose of a swerve drive (Why not just build a kiwi drive if you're going to use all omnis?).
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Well, for one swerve will have a lot more traction. Divorcing orientation of the chassis from the wheelbase is also a feature not found in omnis. In this case, the omnis will only be used to support the robot weight to prevent it from tipping over, instead of as steering. Many teams use this approach in tank drive to allow for easier turning (though they tend to power the omnis ...)
I would say that you are not an engineer until you've both obtained the aforementioned peice of paper AND done something with your tumescent engineers forebrain. - phrontist [more] 
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