[artdutra04]

1. What is the gear ratio for the drive base? Are the CIM shafts long enough to do what you propose?

2. Why is each wheel individually powered? If the gear ratios are what they appear to be (AndyMark CIMple Box), why not just mount that on the chassis and run roller chain to the wheels?

3. You should move your wheels to as close to the front/back ends of the robot as possible to lengthen the wheelbase. If you actually built a FRC robot with this drive base as shown, whenever you would rapidly change direction, at best the robot will tip enough for the frame will dig into the carpet momentarily, at worst you will entirely tip over.