[EricH]

Actually, yes.

Unfortunately, I've been around a while. So this one isn't going to be legal anytime soon...

Two Bosch drill motors, running through somewhat modified Bosch drill transmissions, one on each side of the robot. (Note: While we rarely had an issue, many teams did have issues.) 4WD, all powered. Hasn't been legal since 2004, due to the drill motors being replaced by a pair of CIMs in the 2005 and later allowed motor lists; CIMs had been included for at least a few years before then along with the drill motors.

You could also ask Billfred about driving using window motors.