Quote:
Originally Posted by z_beeblebrox
It's not too hard with the central gearbox design since you can do a second reduction with the belts to the modules. From JVN's calculator, a 12:60 reduction in the gearbox and a 24:42 reduction with the belts gives adjusted speeds of 6.4fps on the Colson wheels and 12.9 fps on the omni wheels.
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The other reason we prefer to float the traction wheels is that if we lose air, or if we lose a belt in a module we default to the omni wheels which is where we spend around 90% of our time anyway.