we used the KOP chassis and the 6-wheel drive(middle lowered and the KOP wheels) during our rookie year. It worked VERY well for us. We used the banebot tranny with a supporting bearing at the end of the shaft. We had zero problems with it. Turning was easy (sometimes too easy). That's something i'm having the programmers work on this summer.
Here are a few pics of the drive train before it was finished. It's rough, but you get the general idea. If you want to see it in action, check out the VCU match #50 on SOAP. We did well until be broke the arm
http://www.chiefdelphi.com/media/img...426e384c_l.jpg
http://www.chiefdelphi.com/media/img...d32e6bc4_l.jpg