I've completed the chassis, and have realized that I haven't been accounting for the actual shape of a proper droid until now. The body tilt when on three wheels keeps the wheels away from the body, which means to be accurate I would need to run belts down the legs to turn the wheels instead of just connecting them to the axels. I may have to fudge this and attempt the more complicated drive system for a future revision.
(R2D2 picture from Google search, link here:)
http://27.media.tumblr.com/tumblr_l415r2rV0W1qc7oabo1_400.jpg
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