[mathking]

We used a center aligned drive in Triple Play, and it worked very well for us in that game. (We went 7-2 with it at the championships and were the leading scorer for our side in all but one match.) It does not do well in a pushing match, but we found that this was more than compensated for in that game by the ability to just go around other robots. It was able to spin with a diameter only about 2 inches greater than the corner to corner diamter of the robot. We had sliders and whole thing was only about 1.5 cm off the ground. I wouldn't recommend this as the competition floors are not always completely even.

The one word of caution is that it takes a while to learn to drive well. Using sensors and software to help smooth out the ride was very helpful. As long as you get it done with enough time to practice and calibrate, it can be a good idea.

Sidenote: We are looking at this type of drive this year, as a backup in case our mecanum drive (first time our team has tried it) doesn't work like we hope it will. This also gives twice as many kids a chance to work on a drive train.