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Re: H Drive
Chaining or belting each pair of wheels with the same center lines automatically distributes the necessary extra torque to the wheel which you're accelerating away from. If you have a CIM for each wheel, it also appropriately redistributes the torque and power of the two CIMS to the two wheels.
Getting the weight load on a strafe wheel correct can also be tricky. This year, we modified a KoP drive train into an H, and ended up pulling the strafe module to minimize weight. Try to make the strafe wheel so that it will carry a defined load, either through a spring or pneumatic cylinder. Using a cylinder also allows you to retract the strafe wheel, which better supports climbing ramps and so forth.
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