Choose to design either a $2,4$ or $6-$wheeled platform and drive system that can traverse the plants in the field.$$ You have available $4$ batteries of $6$V each to configure as desired.$$ Each battery has an AHr rating that can supply at most $20$A$-$hour at the rated voltage.$($For example each battery can provide $20$A for $1$ hour, $10$A for $2$ hours, or $40$A for $0\mathrm{.}5$hr$,$ etc...$)$ The wheels used will be $8$ in diameter and $3$ in width.$$ The vehicle platform is such that for example a $6$ wheeled vehicle wheels are defined as WLeftFoward, WLeftCenter, WLeftAft, WRightFoward, WRightCenter and WRightAft are the drive wheels and the batteries $($primary center of mass$)$ are located at the center of the vehicle.$$ The overall weight of the vehicle is ~$40$lbs and the motors are geared using a $20$:$1$ gear ratio between the motor and vehicle with a drive efficiency of $70\%.$ The design must account for a grade of $5\%(2\mathrm{.}86$ degrees$).$