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Interesting... I just barricaded myself in my room for the weekend and successfully built a crab drive much like yours, only with 4 wheels and two chain systems.. The chains are struggling to turn those wheels, as the rubber does a very good job of preventing turning, so I'm experimenting with different gearing of the chains..
P.S.- I figured out a way to drive these suckers without any extra programming- I was sitting in my room with two edubot controllers, two isaacs, and two joysticks when I realized just hook up one edubot controller to the wheels themselves, and the other one to the turning mechanisms, and presto, insta-crab.. This lets me test the bot out to make sure it works before our team actually starts to program it... (we have multiple edukits since we had a robotics class last year)
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