[EricH]

Traction.
Power.
Division of power.

Without traction, you're not going to be able to push (or you are). Different wheels give different traction.

Power is how much power a drivetrain has available. See "motor count and type".

Division of power is where the robot is on the speed/torque splits. High speed/low torque, vice-versa, shifting drivetrain... Get high traction and high power and mess up this one, and you'll probably get pushed around at some point.


Robustness and maintainability are also important, but I'm assuming that all drivetrains are built with those included.