[EricH]

Awright, let me make a suggestion or two.

Casters: If you MUST use casters, and that's a big IF, use ball casters. Most teams avoid casters like they're the plague; they tend to give you trouble when steering. Ball casters are a little bit better. Omni wheels, if you can get them/make them, are the best on that. (That "spin freely and quickly" should also read "unpredictably" for casters.)

For the drive, try to get another couple of CIMs; AndyMark.com sells them for $25 each, and ships fairly quickly. (Oh, and if you haven't used your FIRST Choice credits yet, use them--that can help with resources.)

Slow torquey motor: grab a window motor. Use programming to slow it further if you need to.

With your comment on the "no programming"... You don't know the half of it. Try "no robot"; I've seen a team show up with the KOP and have a running robot in 6 hours; I've heard of a pair of 1-day robots due to shipping mixups. You show up with only a box of parts or a robot in any shape, look at the pit right next to you and ask that team for help--they're probably veterans. Then hold on to your seats as half the other teams come in at the same time...