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Check out the thread another one of your team members also posted today
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this is a different subject, we're discussing how many wheels are driven, not how many wheels to use.
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my team and i have been discussing the use of 2wd vs 4wd. we completely outlawed the possibility of going over the bump and are redoing the frame and everything concerning mechanics, and we thought if it would be better to have just 2 wheels driven. what are the pros and cons of 2wd? how would it be good for just driving on the level carpet ground?
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you're probably gonna have to go over the bump at some point, but that aside, 4 drive wheels will provide a better resistance to turning force/torque/power, since you have 4 wheels turning it, putting the center of rotation more in the middle, meaning that when turning, the wheels will orbit, rather than glide, because in a 2wD, the center of rotation is off center, meaning that one set of wheels will drag, instead of orbiting around the rotational center, making it much harder to turn, even if you use slick wheels. the only reason to use 2wD is if you put omni or swerve on the non-drive set, then you can get away with 2wD, although your turning will still be a bit weird. another problem is that you can't strafe with 2wD. but, in a
wide configuration, you can
probably fix all these problems if you drive wheels that are diagonal from each other, but you would only be able to strafe with a
full swerve drive