I've said it before -- I don't think any team should spend their resources developing a Swerve drive during the competition/build season.
http://www.chiefdelphi.com/forums/sh...84&postcount=2
This is a mechanism intensive game -- there is a lot of development to be done in elevation systems, gripper systems, and minibots. Go with a reliable proven drivetrain, and you'll be MUCH happier with your robot's performance.
The performance gains you could theoretically get from going with a swerve drive will be 100% negated by the effort you'll spend developing it and getting it working, and the effort you'll have moved away from the other developments you could have been doing...
In short, I strongly believe that if you do a swerve drive your robot will be
significantly worse than if you hadn't.
That said... good luck, and let us know if you need help.
-John
PS - The CAD models from the 148 2008 swerve are here:
http://www.chiefdelphi.com/media/papers/2277 Make sure you use bigger bevel gears than we did...
Analysis is a tool. Like any other tool you need to figure out where and when to use it. That's the tricky part. - ChrisH [more] 
Hybrid Mode
