[Nate Laverdure]

The calculator exists, but surely you can work this out for yourself.

The idea that a FRC drivetrain is "traction limited" simply means that, at the contact point between the wheel and the carpet, the force applied by the wheel is able to exceed the maximum reaction force capable of being applied by the carpet:

tau_drivetrain at stall condition * r_drive wheel > mu_wheel tread on carpet * N_drive wheel


...I'll also suggest, without providing proof for this, that for "good" FRC drivetrains:

tau_drivetrain at stall condition * r_drive wheel >> mu_wheel tread on carpet * N_drive wheel