I like the article; building well is important, but you can have the best robot in the world and you can still lose if you can't drive well.
I've spent a lot of time driving, albeit mostly unenclosed, but I try to set some sort of boundary. Like, when I don't have a weapon/spin it up, I just drive in this hallway intersection at our school. It's a little smaller than the arena I fight in, so I think it probably offers better practice. However, one thing that's nice is to practice on the same type of floor as you'll be fighting on. For example, bots really, really suck on waxed linoleum like at our school. If you fight on steel, practice at least some on steel, even if it's much thinner than what you fight on. It'll still grip about the same, and that can show you some issues you didn't think you had. For example, one of my bots had severe gyroing issues. It wasn't as bad in the test box as it was in the arena, so I had to practice not flipping myself every time I tried to turn...