[Dillon Carey]

As the main mentor who helped with the design of last years drive train, here's what I have to say.

I really like how easy this thing is to build and it isn't super hard to drive in my opinion (although I have driven some difficult robots in my day). I would recommend trying to keep your center of gravity shifted a little bit back, this is another good reason to direct drive the rear axle.

As far as pushing goes, I was really surprised at how much grip the omnis actually have. Also, because most 6wd only have 4 wheels on the ground at a time, the 4wd can go toe-to-toe with many 6wd's in a pushing match.

I really like 6 CIMs on the drive. I have looked a lot at the numbers, which seem to say it doesn't make a huge difference. But I think it's worth it.

These are just my opinions, feel free to prove me wrong.