It works. I attached the drivetrain fully and then (not tracked oops) programmed a very simple mock control program and put it all on one brain (not final design). I no longer have access to my school as my job ended, I’ll finish this project when I come back to school in early August. I plan on (1) fixing the height of the drivetrain so it actually presses into the floor enough to drive smoothly, (2) reinstalling wheel and programming it for self driving, (3) final tweaks for stability