[sgreco]

If all of your wheels are moving indepentently then you have all the capability of a 2+2 and more, using a 2+2 you have all the capability of a 4 and more. I would consider that none of these are any more complex than the others and go with each module being moved indepentently. An easy way to make this work is to vertically mount an FP motor and attach it to the wheel module and do this to all of the modules. Make sure the wheels are straight when you start a match because if they are a little off it can mess up hybrid mode. My team ran into this issue, it wasn't that bad in tele op but we had a good hybrid mode, but if the wheels weren't perfectly aligned the robot would cross one line and before it could get a second teh unstraightenedness would make it go into a wall.(it didn't help that our sonars died in eliminations)