[Cory]

Originally Posted by Lil' Lavery

I have another question. Why bother with a 6-CIM, 2-speed drivetrain at all? It seems like a lot of resources to invest in only marginal gains over either a 4-CIM, 2-speed or 6-CIM single speed.

For us it came down to the fact that we wanted to utilize our drive motors to hang (we set our initial goal at less than 10s) and we also wanted to maintain the responsiveness and acceleration of our 2011 robot, except 30 lbs heavier. To do that we needed the extra CIMs.