6 Wheels, only 2 powered by the Gearboxes in the KOP. 2 cims per side. We used the conveyor belt material from McMaster Carr on the outside circumference of the wheels in the KOP. We cut it using a jig saw...it was pro
lol. And of course we were wearing safety goggles while doing it. We also have two omnis in the front for turning. It worked really well for being that the drive train portion was assembled mostly be freshmen.