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Re: Drives in general
4WD often equals bouncy turns. It has to be done just right to eliminate that (usually omnis or casters, though the casters make it a 2WD). Almost the only easy way to eliminate this is to build a "wide" bot (the short side is front-to back), and then you have a tipping risk under normal driving. The most successful robot I have seen with 4 wheels is 69 in 2005. (At least, I remember them as having only 4.) They had very slick wheels, as I remember, so they slid a little bit.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
"Rockets are tricky..."--Elon Musk

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