[GarrettF2395]

Our drivetrain this year worked surprisingly well.
At our best, we have pushed 3 robots at once.
It was just a modified, "wide ride", drop center, 6wd kitbot chassis with unmodified toughboxes and 1 CIM per side.
The only traction control we used, was a ramp up code, that increased the robots speed when moving from a stopped position.
But I think the reason it worked so well, was because of the weight distribution.
The weight on our robot was just slightly forward on the chassis, making us a front wheel drive which gave us greater maneuverability.
But if we got into a pushing match, the weight shifted to the back wheels.
Since our robot was able to rock back and forth, the force applied from our opponent pushing against us, actually lifted the front end of our chassis just a bit.
This in turn, applied downward force on our back wheels, helping us to "dig in" and gain more traction. Thus, we were able to use our opponents pushing for against them.
Now I will say, we did not in any way engineer our chassis to do this.
It was merely something we noticed happened while pushing another robot out of the way.
I don't have any math or statistics to back this up... but I will see if I can get some pictures of it up here soon.