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Re: Arcade Drive in Autonomous mode and Tank Drive in Teleop mode?
Simple answer: yes.
The number of motors is actually set in Begin when the drive motors are opened. The default project uses Open 2 Motor Drive. You can replace that with Open 4 Motor Drive.
Once you've done that, any of the drive functions will control it appropriately. Arcade Drive and Tank Drive do exactly what they should. (If you've built a holonomic drivebase with mecanum or angled omniwheels, Holonomic Drive will work too.)
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