[KrazyCarl92]

Is there a compelling reason to use a live axle on that center wheel? Dead axles can better help strengthen the sheet metal frame if used properly. Common reasons to use live axles on a center wheel in an application similar to this is to direct drive the center wheel from the gearbox or to run chain for a wheel on the opposite side of a frame member from the wheel. Neither of these criteria are met, so using a live axle on the center axle in this particular design is not taking advantage of the benefits of using live axles.

If the corner wheels are on dead axles, why are there bearings in the model? The axles do not rotate in a dead axle setup, so the axles should be in some way constrained to the frame. Most commonly bolts are used as dead axles and tightened into the frame.

Is there some kind of traction material that would be used on the bottom of that belly pan to keep it from damaging the carpet or provide extra traction? Depending on your material choice, a metal belly pan could violate the FRC rules (of course dependent on the rules for the upcoming season, if you plan to incorporate aspects of this design).

With the available motors from the past 2 seasons, it's difficult to justify an RS550 in a drive train application. CIMs and MiniCIMs have much more thermal mass and do not rely on the high speed of the motor to cool with an internal fan. This means that they are better suited for the constant use and sporadically near stall conditions that are seen in the drive train. Although RS550s have similar power to these other motors, they are better suited to most manipulator conditions where they are not subject to constant and heavy loads. With 6 CIMs and 4 MiniCIMs at your disposal, there are still many powerful motors left over even with 6 CIMs in your drive train. I'd expect at least the very least 4 CIMs and 2 MiniCIMs to be allowed by the rules, so even with all of those in the drive train you would still have a sizable selection of motors to use on manipulators.

EDIT: Why use the optional third stage of gearing on the ball shifter gearbox if the reduction could be achieved by sprocket and chain from your gearbox to your wheels? This could save weight with 1 less stage of gearing, less chain, and smaller sprockets with the same force on the chain.