[JesseK]

My team has had a love affair with 4 wheels since 2012. This year is no different, and this year all 4 are direct-drive. It's so simple: no chain/belts to haggle with, high quantities of hubs to worry about or extra axles to lathe.

The wheel base (width x length) is ~28"x17". The robot would normally be 'tippy', but we have a plan for c.g. and we're going to have ~1/4" ground clearance overall for the frame. This means that the outer edges of the frame will prevent us from going all the way over in the event of a hard stop. Sure, we could put another 2 wheels in to do that for us - but why?