We have run shifting swerves sense 2021 and there are benefits and downsides to it. It definitely helps with defense and prevents from being locked up/pinned. We haven’t been able to gear higher than some teams because we tend to build max weight robots and power draw has been our limiter but with a light robot much higher speeds are possible. Another downside is everything has to be manufactured and assembled in season which we have found to be challenging at times. All of our CAD files can be found within our 2022, 2023, 2024 CD posts
Weight and size: Our inverted modules weight 7.4 lbs per module vs MK4i’s 6.3 lbs. We sit slightly higher above the drive tube but the foot print is much larger sense we use a 5" pneumatic wheel instead of a smaller 4" wheel.