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2 wheel drive is deffinately the way to go. we've been 2 wheel drive ever since 2001 and its worked very well in all cases. nice traction because you can focus weight just for 2 wheels, and then if you pick up part of a robot with an arm (which we do have as well) you could add a lot of traction. or you can do what we do this year and be able to shift your center of gravity with the arm
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