4WD vs 6WD

[SleeveofWizard]

List advantages/disadvantages.

[teh_pwnerer795]

4wd

- less weight
- faster
- less power being drawen from battery
- u dont have to end up calibrating all 4 wheels as long as it would take to do 6

[Rob]

4wd

- less power being drawen from battery


That statement is not correct.

In a 4WD setup 100% of the robot weight is involved in creating scrub forces while steering.

In a 6WD setup roughtly 2/3 of the robot weight is on scrubbing wheels depending on your weight distribution. In addition, your center wheels are in line with your turning point when turning in place meaning that most of their torque is transferring to the floor through wheels that are not slipping.

More scrub forces in 4WD means more current being demanded from the battery for the same weight machine.

RAZ

[Goldeye]

4wd
- faster
- u dont have to end up calibrating all 4 wheels as long as it would take to do 6

I didn't know these, care to explain why it's faster and what you mean by calibrate?