[Dave Scheck]

First off, nice rendering

I find it interesting that you're using the window motors to turn your wheels. Is there a particular reason that you chose them?

I don't know much about motor characteristics, but from a practical point of view, I see them being a pain. This basically forces you to enable your robot to move your wheels, which causes you to have to set your robot up before setting it on the field. Maybe that's not a big deal, but I think that it limits your flexibility.

In the crab systems that we had in 2002-2004, we used the globe motor for steering with pretty good success.