The motor speed is 1650 at 1.2:1 overdrive, this gives us 1980 RPM wheel speed, PID control (the encoder is on the motor shaft). We went with the overdrive gearbox to give us plenty of headroom for full court shooting. We can achieve a solid 5000 RPM wheel speed without losing all of the torque at full motor speed and voltage.

I think that the 1650 motor RPM puts us into a good torque scenario but poor efficiency, if that matters.