[sgreco]

I may be reading your post wrong, but you say the rollers go from 2 inches to 1 inch in diameter, so how big is that wheel itself? I can hardly imagine its anything less than 16 inches given the size of your rollers.

The design seems kind of cool, but you might want to scale the size down a little. That wheel is probably a too big for a practical application in a FIRST robot.

You also may want consider adding some supports inside the wheel, I know a lot of teams that have trouble with plates bending on their mecanum wheels.