Is this shooter design sound?

[waterbott]

Is this shooter design considered to be sound? I'm pretty amateur at this, but I wanted to know if this design would be considered to be sturdy enough on a competition robot. The idea of the design is that their will be two modules spinning on both sides (not pictured) and will act as both the intake and the shooter. The wheels are positioned so that the center of the colsons is over the center of the boulder. I'm especially worried that since the mincim is direct driving the wheels, it will put side-load on the motor, that was part of the rationale for putting a bearing.

Yes, I do realize that there are alternatives to this design, such as using a 1:1 versaplanetary base with a cim adapter just like the Ri3D greenhorns.