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Re: 4 vs 6 wheels (what to choose)
I would say mechanum because that is what our team is using and it works really well but the 6 wheel has really go maneuverability too if you implement the drive system right.
If you use 2 rubber wheels for friction as the two center most wheels and then you use omni wheels for the front 2 and back 2 then you have great maneuverability and better control. However you aren't as maneuverable as with mechanum.
With the six wheel drive train, you have a better resistance from being pushed. My experience shows that the mechanum can be pushed if you have a weaker but faster gear ratio.
Hope this helps 
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