[Madison]

A few things that don't pass the "that doesn't feel right in my gut" test --

1. Change the channel to rectangular tubing everywhere. Channel is much less rigid in torsion than rectangular tube.

2. The strafing omniwheel is not well-supported in the frame. You're removing a lot of material from the 2x1 cross-members for chain clearance and leaving very little wall where the U-shaped cutouts are. The weight of the robot, when it's sitting on that strafing wheel, is supported almost wholly across the four thin gussets you're using to couple those 2x1 cross-members to the rest of the frame.

2a. That all presumes, of course, that you're actuating the strafing wheel downward. It's unclear if that's the case. Otherwise, I'd be concerned that the normal force acting on that wheel alone will not be sufficient to move the robot sideways.

3. Gusset the joints more to give you some additional support against wracking to whole frame into a parallelogram.

4. It's hard to be sure from this view, but it looks like you're mounting the CIMs against the outer flange and race of the bearings. That gives me the willies.