First off, I saw that my team's (
FIRST Team 846) powerpoint on robot subsystems was listed up above under the google doc link, and I'm really happy that you guys all find our presentation useful. However, I noticed that the slides in that presentation detailing the physics behind four and six wheel drives (center drop and no center drop) were not present there.
To jwallace15, you may find the information below useful in understanding the physics behind a six wheel drivetrain.
FIRST Team 846 Resources Page:
http://lynbrookrobotics.com/?act=wrrf
This page covers the various talks we have done at the annual Western Robotics Region Forum Workshops. The full Introduction to Robot Subsystems powerpoint is there (including the drivetrain physics bit), as well as some interesting presentations on control systems, DC motors, and other useful things.
We're currently working on uploading more updated information to our new website, so please stay tuned for even more useful content!