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We used direct drive last year. We had some custom hubs with key slots that fit inside of the IFI traction wheels we were using, which then slid right onto the shafts of the BaneBots gearboxes. On the other side, we put bearing blocks, which BaneBots sells for most of their gearboxes.

We had some major control problems last year, but they weren't related to the direct drive (as we discovered a few months ago). Everything else worked out pretty well, but we did have to take the gearboxes off every time something went wrong with the wheels (loose screws in the hubs, broken spacers, etc…), which meant taking screws out of hard-to-reach places.

We're going back to chain drive this year, since it allows us to manipulate our center of gravity much more easily.