WP have nothing to do with individual matches. It is a metric used to rank teams. You get 2 for winning a match, 1 for a tie/home row, and 0 when you lose a match
I don’t get the wording of this so I’ll go over the whole thing. If all of the Goals in your Alliance’s Home Zone are Owned by your alliance then you get 1 wp from the autonomous. You can also get autonomous points from winning the autonomous
Objective best wheel type for Change Up might help you out some.
Traction wheels move forwards and backwards easily, and will not move side to side. I’d put a video, but they work like normal car tires
Omni wheels move forwards and backwards when you power them, and can passively move side to side
Mecanum wheels allow you to move in all directions on the field