[BJC]

I can understand your desire to innovate so here is something to think about.

A fundamental problem with FIRST robots are that not all the motors are being used all the time. This means that there is a lot of untapped power at any given time. If one was able to put all motors into whatever function(s) were needed at the time, it would be revolutionary.

That would be about as good as a drivetrain could get motor/power wise.

The trick to designing is to identify the problem before finding a solution.