I have never seen them in action (
) but from what i have heard, the wpi (190) machine was very good.
As for "shimmy" bots, the best were 330 and 237, but I though 330 had a little bit of an advantage. A) They get on the platform in auto B) They Can uncap.... But, 237 had the power to stop teams from getting on the top platform with their bot-not-hanging-so-high design. If you want to see a match between these 2 hangers, check out the team 195 video gallery (link below) and watch qualifiying match number 96
http://www.team195.com/video/arc_video.html