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Re: Shooting from opposite side of the field
CIMs have a torque of 45 ounce-inches (0.234375 foot-pounds) at peak efficiency according to the manufacturer. The simplest solution is to just put a wheel on the end of a CIM to increase torque and increase linear momentum conveyed to the ball.
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WPILib dev (RobotBuilder, SmartDashboard, GRIP)
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