[EricH]

Originally Posted by GeeTwo

Actually, it may be a bit of a change to the control board, as the wheels must be independently driven. If using PWM to drive your motor controllers, you must use four separate PWM ports, not two with wye cables.

I'm aware of that. For the record, that's not a change to the required number of motor controllers for the drive--which is what I was addressing--unless, as in your case, you're running a non-4-motor drivetrain. (Also note that CAN is not governed by the same rules as PWM, so if that is your setup, it's purely a mechanical and programming problem.) It's simply a wire routing, which should have little to no effect on the board (given that PWMs are small, light wires and there's almost certainly one going that route anyway, even if it is on a splitter for a tank-drive setup). The effect will be on the RoboRIO: namely, you have to use two more outputs for the drive motors.


There is one other change, though, that the OP should be aware of. Due to the mechanical aspects of the drivetrain, you'll have less space in the corners than normal, but if you can keep the mechanical crew from putting stuff in between the wheels, there may be more space on the sides of the robot to play with.