[JesseK]

We found that a hybrid version of strafing allows the robot to turn ALOT faster due to the trailer. If the rear 2 wheels are oriented transverse to the direction of movement, while the front two wheels remain parallel to movement, the trailer whips around faster than you can say 'booya'.

Typical transverse strafing still has it's uses.

'Vector' drive, where you're always strafing and never turning, doesn't have much use we've found. The trailer weight and the drive wheels' low cof really prohibit movement along the diagonals.