2 wheels or four, that is the question. with 4 you get more traction but with 2 you can turn better. so you can clearly see the trade off. But could you have both? Last year and the year before, my team used 6 wheels with the 2 middle wheels a little lower than the rest. by doing this the robot is 4 wheels when pushing and pulling. and on 2 wheels when turning. This worked very well, in the games we played the last 2 years. We will just have to see about next year.