Basic Change up Drivetrain

Hello folks.
This is my team’s first year doing v5 after (sorta) graduating from IQ. We had lots of trouble building our roller robot drivetrain and would like some help! We are trying to build a regular 4 omni-wheel drivetrain and if you have any suggestions for particular designs to share PLEAsE DO SO!

https://www.vexforum.com/t/designing-a-quality-drive/81850/8
here is a topic I made a while back about designing a solid drive, it’s not the simplest type of drive you could do, since it’s geared, but it should be helpful.

if you wanted to, you could just go direct drive from the motors to the wheels, it will be slower but easier.

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