On my team's
whitepapers page there is a PowerPoint that goes over drive systems as well. It doesn't go into as much depth as Madison's, but it covers a larger number of permutations of the same basic designs (ie. wide and long four-wheel drives have different pages giving specific info on each). It also has a little bit more on omnidirectional systems. Note: if you are planning a drive system, our paper is probably not the paper for you. It is more of a rapid tour through FIRST drive systems and is probably more appropriate for quickly teaching a strategy/scouting team about the behavior of various drive systems than designing them.