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Originally Posted by magnasmific
If it is 4x4, a quick, very good answer is pop-down casters on one side of the robot (front or back). You can either use one or two, and easilly position them with pnumatic cylinders.
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Yes, that or just a single big "hockey puck" made out of HDPE in the middle, beveled on the bottom so as not to snag. Or a bar of HDPE hinged on one end, whatever is simple and quick. Casters can handle funny, so we're gravitating away from them.
4-wheelers should have a short wheelbase and wide track in order to balance the leverage forces. Last year ot bot had about a 17 inch wheelbase and was fairly narrow, so we ended up using 2 pneumatic Skyway wheels and two of the solid polyurethane wheels (that were in the kit) to make turning a bit easier. It's still a bear to turn on pavement, but not too bad on carpet.
Part of FRC is to introduce you to how engineering is in real life: you can't use a redo card if you're landing something on the moon. - The other Gabe [more] 
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