1. We went with 4" AndyMark Performance Wheels. Custom 2-speed transmission with a real 4.5ft/s low and 17ft/s high. We're using the Poof's amazing chassis (thank you very much 254!).
2. We designed our drive (and a good chunk of the arm) entirely around speed and a low CG (we have about 1/2" - 3/4" clearance). In fact, our driver's gotten good enough that he can take a 100% turn at full speed in high with the arm as high as it can be
