[FRC4ME]

We used six wheel drive. Each side had two (doubled) back wheels and one front wheel. One CIM was driving each side through a SuperShifter (which, ironically, we never used).

We had a simple joystick ramp-up for a while, which worked okay. Towards the end of Atlanta, we developed an encoder-based traction control that worked great; its too bad it didn't see very many matches.

As a member of the programming team, it was difficult initially to convince the build team that more wheels would not actually improve traction. Then, they wanted to leave the front two wheels undriven (i.e. throwing away ~40% of our traction). Yay for physics!