[Jon Stratis]

At least the times my team has done WCD, we've been able to do it with direct drive from the gearbox, eliminating the need for chains or belts. Then again, we're doing direct drive this year, but have both ends of the shaft supported (i imagine with the defenses anyone without both ends supported may run into issues!).

The benefit of not needing that outer support, regardless of how you power the wheels, is not needing to get everything perfectly aligned. You don't have to worry about the holes lining up for your shaft at all - I know that was a significant focus for us our first week when we made this year's robot.