The
Simbotic seminars are pretty excellent. I'd recommend the Strategic design video for all and drivetrain design can point a team in the right direction.
In 2013 and 2014 234 had tank drive robots. In 2015 we had a swerve drive. The team just took apart last years robot down to the basic frame/drivetrain as well as the 2013 frame. When the game is released we will be able to test out both basic frames and see which align with our strategy/game play based on our thoughts of the game.