Cyber Blue used the traditional 4 small cims
We were cool and shifted with servo motors 
(They don’t like to shift on the fly very well though…)
We used 4 small CIMs on DeWalt transmissions, in a holonomic configuration. It was a bit of overkill, as we never really utilized the shifting feature. It was cool to say we had a shifting omni-drive robot, though, even if we didn’t use it 
team 340 had two small cims with two speed andy marks
Team 604 had 4 small CIM’s, two per KOP transmission.