pic: Plywood Butterfly Drive Render

Originally Posted by z_beeblebrox

Here's a 6-CIM version, with the wheels belt-driven from a central gearbox. I did not switch the omni and Colson wheels; the robot has to tilt to an extreme angle for the raised omni wheels to touch the ground. It now has adjusted speeds of 13.8 and 6.9 fps.

It seems like you can literally flip your modules around to put the omnis on the inside and the traction on the outside. Just move the shaft with the pulley on it a bit closer in, flip the modules, and you're gold.