[Techhexium]

Thanks for the advice everyone! From the photos I seen from Joyride's link (I like how your team's robot used Lego structural pieces for the baton dispensing mechanism) and photo albums of other FTC robots, many teams use long channels to put in axles and gear configurations. I think that makes adding wheels easier but requires a lot of gear hub spacers which my team only have 4 of. (My team has two Tetrix base kits worth of materials but that's it)

I also find from previous experiences that gear configurations without anything heavy installed on the chassis tend to un-mesh easily in a short amount of time driving.

I find my 4WD drivetrain (without the two center wheels) can turn well on both the floor and FTC mats. I'll try putting the two center wheels without drop centering them and see how that goes.