[jon-s]

Originally Posted by jon-s

The wheels are directly driven by the cims, with no chains connecting them - the wheels turn independently.

Oops, my bad... the driving cims are in toughbox nanos. There are 4 cims in the drive train. We drive so that the robot's longer sides are the front and back. In case it makes much difference, our robot is pretty low (about 32 in high). Right now, we only have single speed, but are considering altering the software to have at least one slower one (right now the robot goes full blast).