pic: Butterfly Drive Concept

[TheHolyHades1]

The addition of the slide drive is cool, but I think the extra wheel in the center is unnecessary - you'll should be just fine using a single wheel in the middle. I have a feeling you'll also need to increase the motor count in the center if you want an appreciable speed for your sliding - going down to 2 CIMs per shifter and 2 cims in the middle should give you a pretty good balance. That should also reduce your weight a little - as mentioned above, 50 lbs is a lot for a drivetrain. I figure you should aim to be in the ballpark of 25 - 35 lbs for most drivetrains in FRC. That said, that estimate does seem a little high. Make sure you have the proper weights assigned for the various motors (override part weights), and the correct materials for the tubing / plates. You might also be able to reduce the thickness of your tubing - while I can't quite see what thickness the tubing is, you might want to consider using something in the range of 1/16 - .09" tubing.

Speaking of the plates - those plates look a little too pocketed, and I'd be seriously concerned about their rigidity.