[Cory]

I'm still puzzled as to why you shortened your chassis, presumably to help the robot turn more easily (or to facilitate picking up balls), and then put a shifting transmission on the bot, driving omniwheels in front, and traction wheels in the back.

You should have been able to get away with just the shortening of the chassis., and still be able to turn with 4 traction wheels. Using omniwheels and a powerful transmission just seems like you're shortchanging yourself.