[sdcantrell56]

Direct drive does require modifiying all but the andymark super shifters. Although getting a longer shaft machined is really not that difficult. My preference for direct drive is that even if all chains somehow snap, the robot will still perform just as well since the center wheels are always in contact with the ground. This also makes it slightly more reassuring to use #25 chain since no matter how many chains break the robot will still run. #25 chain saves a ton of weight over #35 and it also only uses 4 chains versus at least 6 in a normal 6 wheel drivetrain. The only thing to remember with #25 and really even #35 chain is to have a way to easily tension the chain. If you can keep the chain tensioned and lined up properly then you will never break a #25 chain.