[Lord of Yetis]

Hi I'm a FRC team member of team 3506, and we are having a problem with calculating the torque required for a two speed Andymark transmission, An Adobe document with our calculation results should be attached, we are having trouble finding the torque output needed for 3 and 4: 4" diameter wheels per side with two sides having wheels, and 3: 6" diameter wheels per side with two sides having wheels