[Anthony Towne]

I see where you are going and I have to admit that it looks like it will work. It took me a sec to realize that the 2 back helical gears aren't attached to the input shafts, they are just attached to each other through the cage structure and rotate on bearings. This isn't a new idea, however. All it is is a differential working backwards. Teams in years past have tried this. Many teams don't do this because it requires 2 motors for each set of wheels, and most teams use 2 sets of wheels, so the robot gets heavy fast and run out of room in the drive area to fit 4 motors with everything else.