Wow is all I have to say. That is one incredible robot.
I saw the video and assumed this was what you must be doing, but to see it close enough to make out all its awesome details is just unbelieveable.
I once made a prototype of this coaxial, single transmission drive in legos and stopped after one wheel because it was so impossibly complicated. You guys made a full FIRST sized robot, in under 6 weeks along with a turret and using 6 motors. Thats just crazy. Props to you, and I sure am glad I'm not at your regional
.
By the way that arm looks awesome too, its unfortunate the drivetrain takes so much focus away from what looks to be an equally impressive device.