pic: 1710's Recycle Rush Chassis

[Madison]

There is a lot here that can be improved. I'd encourage you to heed some of the advice you're getting in this thread.

Casters make driving unpredictable. You can mitigate the effect of that unpredictability better over long distances than over short ones using feedback.

The casters may not be a problem if they're never touching the ground, though. Your weight distribution is, so far, bonkers. You want your points of contact with the floor to be as far from your center of mass as possible, generally. Putting your gearboxes and CIM motors outside your points of contact is negatively impacting your center of mass in a big way. If you continue to add structure between or over those gearboxes, it'll only get worse.

It's not too late to save yourselves a lot of headaches later.