[Lil' Lavery]

Do you have any kind of suspension system for the modules (it doesn't look like it, but I may just be missing it). Many teams have had problems with vector-based drivetrains (such as mecanums) when one or more wheels loses contact with the ground. The typical solution is some sort of suspension. Check out what team 40 and 357 did with their bots in 2006, and what 488 is doing with their prototype for examples.