[protoserge]

Another point to add: If you are using a motor on a direct drive, use ball bearing assemblies RATED for greater than the RPM you will be seeing. Do not use a bushing at these RPMs. Main drive wheels can get away with less engineering due to the typically lower rpm.

There is no excuse for lack of proper thought when working with rotating assemblies. If your shaft is vibrating under load by itself, you are doing something wrong. Assess what you have and redesign. Rotating assemblies simply should not wobble or be out of balance freely spinning.

On last year's robot, we also added a safety cage in the unlikely event of a shooter wheel separation.

Just my thoughts.