Swerve designs

[Dominick Ferone]

One of our off season projects was the possibility of building a swerve drive and add manipulator to test new things we have never done before. We have experience in meccanum but noticed issues strafing at times and obviously pushing fights can be a pain. We'd like to test swerve and were wondering what are some tips needed and other easy ways to get a swerve drive going that's light weight. Preferably the weight of or not lighter then a meccanum chassis.(we may also experiment with a custom chassis or modify a versachassis as we have only done meccanum and c channel the last two years.)

While we enjoy it and our drivers got good at meccanum we don't want to stick ourselves in a rut and feel like we have to use it.
I know some downsides with swerve can be weight, lots of motors/moving parts and battery draw.(largely in part of most use high traction wheels meaning more friction.)
Any advice would be greatly appreciated and anyone could correct me where wrong or educate us where we are lacking.