pic: Drivetrain Prototype

[jspatz1]

Looks good, but here's a suggestion: Your front-to-back wheelbase dimension looks pretty short. Looks to be quite unstable in terms of tipping forward or backward. For any wide format chassis, this is always an issue, and the wheel centers usually need to be pushed as far apart as the frame design allows. Most FRC games require the robot CG to be high enough that tipping can be a problem if the wheelbase gets too short. Perhaps you are trying to shorten this distance to enhance turning. That is a factor, but is usually not as important as staying upright.