[Gabe]

Sorry about that...I kept recommending to members from my team to check out your transmission, because it is really cool!!!

I am very impressed by the way your team developed this differential transmission, and used the KOP Banebots transmissions for it. I have had a similar design bouncing around in my mind but that was using bevel gears similar to a car differential.

One idea that I just thought about that might be worth looking into was using DeWalt cordless transmissions instead of the Banebots 56mm planetary gearing. The DeWalt gearing is a lot more compact and their relative design issues have been more thoroughly addressed over the years than the much newer BB 56mm planetaries.

Considering the troubles with this year's KOP transmissions, FIRST might not include them in next year's kit of parts, so DeWalt planetary transmissions might be a good candidate for another Infinity Drive.