Drive Question

I'm from a rookie team and I'm trying to figure out the drive setup. It sounds like most teams use 4 cims for drive. Is this true -- all four for drive and not just 4 cims on the bot total. Also, we are using the Cimple box. Does this mean we should put two cims on each box or get 4 boxes and 4 cims, one cim per box?

It may be up to us but could you give us your opinion from experience??

PS we are not using omi wheels -- just the wheels from the kop. We could use better wheels but don't want to venture into omni. Could you suggest an alternative to the wheels provided in the Kop?

Thanks