The League Rulebook calls out the following requirements for wheels:
There is a tradeoff to be considered here between sticky and durable wheels. Bots need traction so the wheels can’t slip and the bots won’t be pushed around, but the softer your wheels are the easier the treads are to wear and damage. You should also consider the surfaces you will be playing and practicing on. Competitions traditionally happen on a basketball court, but there are variances within this that impact traction. Will there be dust present? Is your practice surface concrete?
You will also need to ensure the wheels selected are compatible with your motors and baseplate. If your wheels are taller than the 3” bumper, you will need cutouts for them to spin. You may also want to design around making them fast to swap if repairs are needed mid-game. For this bot, we chose the default Pololu wheels suggested for the motors, as it did not require a custom mount.