pic: Rosie Robotics first time doing Swerve

[Enigma's puzzle]

those look excellent, what i was trying to get my team to build but it isnt currently working.

Gearing them down does give you an advantage, because you will never reach a top speed of a high speed gearbox why do you need it? a slower one makes for higher torque at lower speeds, usually it is a trade off torque for speed, but if you can never get enough acceleration to go full speed trading off for speed is useless. You may not need the torque either but if it ever came down to it the torque would be needed before the speed.