Our drive train looks similiar to the Joes, though ours is using Mecanum. We were also worried about going over the center. While it isn't part of the strategy we don't want to be limited, or worse go over it and end up getting stuck.
We did it slightly different though. Have to wait for the reveal (not a big secret, I am just the marketing mentor so don't want to sound like an idiot who doesn't know what he is talking about.
Rich.