ok sooooo turned out the wheels actually highkey sucked. the shaft was circular, so of course the motor didn’t rotate it well (its a d-shaft motor so its shaft output has a chunk taken out of it), but even once we added the d-shaft it just turned the hole circular by itself anyways 😭
luckily Lucas told us about these things called shaft hubs that dig in to the shaft with set screws and provide screw holes perpendicular to the shaft that can be a lot better at transferring the rotational power without yknow slipping. so we bought those on amazon ofc!
but still the assembly went really well!! all the ports worked together, including the motor holes on the legs, and we were able to put the pi on top and connect all the electronics, eventually getting the motors actually moving while in the air by the end of the day! (with a lot lot of codexing ofc)

this is what the robot btw!! its super duper duper cool isnt it :3