So easy to build this straight up according to the directions and have a working robust drivetrain! We have used it that way, as well as mods to omni/H drive, expansion to a 10 wheel monstrosity (utilizing the optional wedge plate), and my favorite, which is to cut 11' off one end, keep the CoG low, use 4 CIMs, and make a highly agile 4 wheel robot. We used the optional cross plate this year; good stuff! We haven't used the TB Micro mounts yet, but this looks like it would make a simple and awesome mecanum frame as well.