Re: 4 vs 6 wheels (what to choose)
IMO, mechanum is a difficult task in programming during the build season, even for very experienced teams. Stay within your capabilities. Wheels are available through AndyMark, so the mechanical requirements can be met if you have the funds. Use the offseason to develop new systems and concepts. I have been in this fo 16 years, and am still learning. Just my opinion.
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