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Re: motoring the wheels
It's almost always a good idea to power all your wheels. Leaving unpowered wheels reduces your tractive force, since not all of the robot's weight is supported by powered wheels. It can cause problems with climbing, if your powered wheels get lifted off the ground. The same thing can happen during a pushing match. If an opponent even momentarily lifts you off your powered wheels, they will be able to carry you around the field on your free wheels with practically no effort.
This thread has some good ideas for how to do an all-wheel-drive setup like this in a six wheel drive.
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FIRST is not about doing what you can with what you know. It is about doing what you thought impossible, with what you were inspired to become.
2007-2010: Student, FRC 1687, Highlander Robotics
2012-2014: Technical Mentor, FRC 1687, Highlander Robotics
2015-2016: Lead Mentor, FRC 5400, Team WARP
2016-???: Volunteer and freelance mentor-for-hire
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What makes a man is not the mistakes, but the actions that follow.
Andy B. - Andy Baker [more] 
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