[BJC]

I'm very curious as too why you put the traction wheels on the inside as to opposed to the outside. As of now it appears that you are not really taking full advantage of switching wheel base sizes. Why not put the traction wheels in the longer wheel base configuration to make it that much more difficult to turn as opposed to the mecanum wheels which could be made to preform equally well on the shorter (inner) wheel base?

Otherwise, really cool.