Is it better to have a 6 wheel drivetrain, or a 4 wheel drive train

[Foster]

Is Omni Wheel Drive in VexIQ Worth it?

Our teams use a 2-motor, 6 wheel system. Front is omnis that are free-spinning/not connected to a motor. Middle wheels are traction wheels, back are omnis. Middle and back are tied together using gears (48 tooth on motor, 24 tooth at wheel for a 1:2 ratio). This gives us good traction and turning, and the turning is effectively from the center of the robot. There were none of the four teams this year that wanted to integrate an H-drive configuration. This 6-wheel configuration has allowed for s…