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Re: 2012 drivetrain
Wide 4WD, 4CIM, 23.35:1 reduction with 12-inch pneumatics (the same type used on the team's first robot (2004). It was great at going over the bump and mechanically one of the most solid and reliable drivetrains I have worked with. For me, there is no reason to consider doing it differently if I were to do it again.
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