[PayneTrain]

If you only focus on one thing for a robot, make it the drive train. There is a wealth of information available concerning them over the decades of competition. It's a lot easier to improve, swap out, or just lightly iterate on a game-specific mechanism than scrap a drive base mid-season. You get a passable one out of the box with easy upgrades available to peruse through online. Plenty of universal systems like WCD and other configurations are available to easily adapt to the current year's limits, and there is a design calculator there to let you plug and play to figure out if your idea will work. It's a lot of little things you can do on a drive base to make a big impact.