[Deke]

Originally Posted by magnets

in order to get to traction limited, no matter how many CIMs you have, you need a certain amount of torque at the wheels. Let's just say for my robot, it's 16 times the torque I can get directly, with no gear reduction from a single CIM motor. So, I would have a 16:1 gear reduction with a single CIM to be traction limited.

If I had two CIMs, I would need to have 16 times the torque from one CIM, or because their torque adds together, I would need 8 times the torque from two CIMs. So, I would put these two CIMs in an 8:1 gear reduction.

The second, 8:1 gear reduction with 2 CIMs will have the same amount of torque at the wheels (16 times the torque directly from a CIM) as the 16:1 with a single CIM, but the 8:1 will go twice as fast.

What you said in your previous post was correct, you need proper gearing to take advantage of your motors.

Excellent, thank you! A more visual explanation helps me, I miss things when I cant visualize them.