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gee- i've seen that exact wheel setup before. Like on our robot last year, and on this year's robot too before we moved on to new and better things. Seriously the only difference between your drivetrain and ours (aside from the motors which i can't see, but i suspect your setup is similar to ours)is that we used a 60 tooth sprocket on our wheel, and you're using what looks like a 45 tooth or so.
I'm wondering how well you guys turn, because I know turning was out of the question for us...
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