[pimathbrainiac]

That design uses pneumatic wheels, not traction wheels, though. Traction wheels might not actuate properly.

Also that design doesn't do diagonals or moving while rotating, which are key to be able to do for a field-centric system. I don't know of a non omni/mecanum/swerve/h drive that can do this, though.

That said, that drivetrain looks effective for Rebound Rumble, so it served its purpose well, and might serve another purpose later. It just won't serve my purpose currently.