[LinuxArchitect]

Well, you can probably look at your robot, or any robot if your robot is still in pieces, and find something that is round like a pvc pipe that is turning. So you could start by doing it the same way.

Wheels in a drivetrain rotate either because they have a sprocket with a chain wrapped around it, or they have a hub with a motor shaft stuck through it. So figure out how to attach either a hub or a sprocket to one end of the pvc, and probably a shaft or axle that comes out the other side to give you two mounting points. Your first attempt won't look pretty but you'll get better each time you attempt it.

George