[ablatner]

Shifters are great, but I'd have to recommend against Mecanum wheels for the usual reasons. You can find many threads on the subject. Many of the top teams use 6 or 8 performance wheels. I know 254 almost always uses the same drive train with eight 4" wheels (this year maybe six because of reduced size). Many other teams have the same setup too, unless they have a good swerve drive like 1717 last year.