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Is that a banebot motor steering each wheel?
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Yeah, we designed this during the build season, and we were planning on using our densos and FP for the manipulator, so we used banebots for steering.
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Kind of confused why you're steering all 4 wheels but then powering pairs of them. What decisions did you make that led to this layout? I'm certainly no expert.
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Originally we planned to steer the wheels diagonally (as in the opposite corners steer together) but it was much easier to just steer them independently from a mechanical perspective (primarily because the chain was a lot shorter). The reason we have not switched to an independent drive motor/gearbox for each module is that the frame that we are using was designed for only the two gearboxes rather than 4. In a later iteration we will use 4 gearboxes very likely.