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Re: 6WD vs 8WD
For Logomotion, we had an 8WD chassis with 6" wheels. The four at the corners were "kit" wheels. The four in the center were closely spaced pneumatics with adjustable drop. (I noticed in St. Louis that 330 used the same arrangement). We adjusted the tire pressure and center wheel drop so that the corners were about 1/16" off the floor on a hard surface, and had light contact on the carpet.
We were quite happy with the arrangement. It turned very well, since the pneumatic tires had better traction and higher loading than the corner wheels. It didn't rock or bounce during accelearation or turning since the corner tires were hard. During acceleration or in a pushing situation, all four pneumatics and one set of corner tires were in contact with the carpet. It was very difficult for others to push or turn us.
It was a good balance between the agility of a 6WD with center drop or omnis, and the pushing power of an 8WD with pneumatic tires.
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NC Gears (Newaygo County Geeks Engineering Awesome Robotic Solutions)
FRC 1918 (Competing at Standish and West MI in 2016)
FTC 6043 & 7911 (Competing at West MI and Allendale in 2015)
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