[Coach Doug]

We went with a six wheel drive 4 motor fully geared drivetrain this year and was quite pleased.

The drop center is a FRC standard and has logic for their wheelbase but i don't think our 18" square robots really need it.

4 motors vs. 2 will help with speed but that is a function of where each motor is on the tq curve ( less work per motor ).

The real benefit of 4 motors and fully geared is pushing force. We pulled down a white paper in summer of 2010 to concept our drivetrain. Unfortunately I can't find it now when I search but had it on my local so it is attached. It walks thru the types and forces ( pushing and turning ) of each type.

We ended up with 6WD - 2 motors, each side fully geared for added robustness against any type of failure mode.

Didn't turn well on a regular floor - drove and turned like a dream on the FTC mats.