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Re: custom wheels
If anything, what I'm seeing here is that, like everything on your robot, the efficiency and "worthwhileness" of custom wheels is something that is completely relative to your team. If you have all kinds of machining sponsors or a 3D printer, it might be worth it for your team. If you don't, not a big deal. It's how you want to allocate your resources (like anything in FIRST).
On another note, one of the benefits can be an integrated pulley, such as 3928 had on this year's robot. I can't tell you how nice that looked for a team that was struggling to use belts for the first time on our drive train this year.
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