@TrollMcTroller That’s great and all but does not pertain to the question asked.
To get the most usage out of V4, I would mainly suggest using many sensors (encoders for your drive, potentiometers for a lift, light sensor/limit switch for a conveyor, etc.) as the best V4 teams in the past have had lots of sensors. Along with this is good programming. Although you might not be able to get better hardware, better software can often make up the difference. Look at tutorials and explanations for PID or motion control such as Team 5225 Introduction to Position Tracking Document .
An example of a great V4 robot which was on par with the best V5 bots at the time is 240P:
