[sdcantrell56]

While not the traditional wcd, doing one with fixed wheels and belts would without a doubt result in the lightest drivesystem in FIRST.

That said there is really no right or wrong answer. Do what works best for you. If your main manufacturing resources are sheetmetal then WCD might not be the best choice. It is possible and we have actually run a sheet WCD before but it's not the best use of resources.