[Paul Copioli]

All,

While the calculations in this thread appear correct (I haven't checked them against mine thoroughly, since mine are done a little differently), they really aren't the main reason for going to small wheels on our team.

It is all about the huge constraint placed on us in FRC for max robot weight. While the wheel weight effect on overall robot acceleration is low (if you do the math you will see), it is significant to help meet the weight restriction in FRC. The max weight restriction is really the driving force for us to go to smaller wheels. Second is the smaller packaging. Robot acceleration is not on our list of reasons.

Paul