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Re: 4WD, is it legal?
Check out the picture gallerys of past robots. You can get a lot of good drive train ideas from there. As far as motors go you can put as many as you want per side but just make sure that you have enough motors to do other things on the robot and that you don't overload the main or the smaller circuit breakers. Also there are certain design issues with some of the different motors that have to be looked at. Read the different threads on here. Theres a good one about the Fisher-Price motors thats informative for rookie teams.
Good luck
~Kirk
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