Our robot has 4 wheel drive (CIM motors in the back, drills in low gear in the front). Our autonomous code is dead reckoning, and we're very happy with it at the moment - every time we crash part of the stack. At Cleveland, we ditched our stacking mechanism, which was originally designed to do this:
http://www.freebmw.net/don/FIRST/roborat.gif
We plan on modifying our arm/lift on Thursday at Great Lakes so we do this:
http://www.freebmw.net/don/first/roborat2.gif
Hope that helps. If you'd like more pictures/video/whatever, just let me know (jhutz@umich.edu). Good luck with the rest of your scouting!
Janna Hutz
Coach, Team 830
AVL & Huron High School
Ann Arbor, MI
*Now recruiting future Wolverines! Email
firstmentors@umich.edu if you'll be at Michigan next year and want to mentor! Go Blue!*