[EricH]

Remembering the previously posted sketches/pictures of the prototype, this drivetrain is rigged for keeping mecanum capability on ramps, as one end hinges. (Note: the hinge is right around the center axle). Doubles as suspension, too.

Now, here's the question: Are those axles running across the width of the robot? If so, is there any particular reason for them? I can see that one is rigged for rotational motion up and down, but not the other--was that just "I'm too lazy" or simply the way it's designed?