Our current chassis is a Andymark Am14U4 chassis kit. There are multiple design options and we chose the long chassis with drop center wheels. That means that the center wheel is slightly higher than the front and back. 0.140 inches to be exact. We kept the wheels that came with the kit which are called HiGrip Wheels from andymark. We also kept the standard gearbox and gear ratios. The standard gear ratio that comes with the kit is 10.71:1. This gives it a speed of 10 ft/sec. There is a height limit to the robots which is 45 inches on flat ground. And the frame perimeter of the robot may not be more than 120 inches. We used NEO, REV-21 1600 Brushless Motors for the drive power. 

Possible improvements

1) Omni Wheels

2) Chezy Drive

3) Investigate why follow mode does not work on Spark Maxes/Neo

Our major fix to our problem was fitting our robot with Omni Wheels. They are like normal wheel, but instead of a rubber tire, they have rollers that will allow the robot to roll side ways over the ground rather than hop. This was our major problem because we have a tank drive style robot which means we don't have a differential to slow the speed of one side of tires to allow us to turn and because of this we had regular rubber wheels which would cause friction and skidding so we switched to Omni wheels which have small wheel that spin lateral which makes it so that the wheels glide as we turn and we had to get specialized flanges bearings because the regular bearings were just a tiny bit too small in diameter so they would fall into the wheel.

Another Improvement we made was extending the front bumpers and adding another holding bracket. This allowed for both sturdier and less wobbly bumpers, but also increased the effectiveness of our ball intake.