[Chris Hibner]

By the way, I came to the above realization (optimal scrub) in 1998. Our first two years had decent drive bases, but nothing great. We started with a system that would barely turn, so we did what seemed natural: side scrub = evil: let's add casters! The casters were nearly a disaster as the nose would swing wildly as we tried to drive it.

We went to our first regional and saw team 1 (the Juggernauts), which is still one of my favorite robots of all time. They had a perfect 4-wheel drive system with just the right amount of scrub, and their robot was SUPER easy to drive.

That got me thinking about how to set out to design a drive system with the "right" amount of scrub from the beginning. That led me to do a lot of scribbling in my notebook - those scribbles later become organized into the paper.