[abeD]

I think its 6wd..you can't really see it in the picture but in the video im pretty sure i saw some chain connecting the the other wheels to the front one....btw awesome design reliable drivetrain + great looking arm. Good luck with the feedback on the arm we did it on my old team and it really helps alot. (Except when we forgot to recalibrate the pots and the arm went insane... )