[KohKohPuffs]

Originally Posted by RoboticDaymon

The main reason that it doesn't have a chain or belt linking the two sides right now is the center bars. With chain that's not so bad to do. But our team has been looking at belts which makes it slightly harder to design and maintain due to needing to remove the center bars if a belt needs to be replaced.
<sidenote> like this the design can be quickly switched to mecanum wheels if we wanted to test various drive options early in the season.

You could make access holes in the center bars for the chain to run through. I think you can also remove one of the center bars and perhaps offset the strafing wheel to make room for a gearbox connected to the modules by chain. However, I would stick with having 4 gearboxes as opposed to 2 gearboxes connected by chain. My reasoning is that it's more about the speeds you are getting with this drivetrain. In addition, 2 gearboxes connected by chain may require more material.