[themccannman]

I detect a serious lack of power and weight in this drivetrain. Far too little power, you'll get pushed all over the place, and not nearly enough material, your robot will float away in a light breeze. I would also certainly increase your gear count, you can never have enough reductions, efficiency can be dangerous. Additional gears certainly help your weight situation too, 4 individual gearboxes certainly capitalizes on this.