Variable Diameter Wheels

[KenWittlief]

why use a Ubolt (universal joint) on each side? each set of wheels (left and right) can have one motor, and the motor tips with the wheel assembly as a unit.

Im wondering, would you want the high torque on the outside of the wheels or the inside? when you are leaning on the outside edges of the wheels your bot is more stable, which would be ideal in a shoving match, having more power to steer under heavy resistance

but having the outside edges down at high speed would also be good, if you are going to make high speed turns, to keep your bot from tipping

I could go either way on this one, depending on the game itself.