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We picked a direct drive train for our robot because we wanted to make it small. We also didn't need to go to fast through the course, so we focused on turning more than speed. The direct drive allowed us to have two, strong wheels. I don't believe there were any disadvantages to this drive train in the situation. If we were to put this bot into a race, we would have probably come in at last place due to no gearing. I think our bot was perfect as it was, other than the trouble we had with the faulty mini battery-packs.