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Re: pic: 6 week swerve
Unless we want to do any sort of rotation on the step, that could cause the gear to hit the step and that would obviously be bad. The solution was to go from a 30:50 gear reduction to a 40:40 which increased the max fps from 11.5ish to 15ish but since pushing isn't an issue the lost torque from turning down wheel speed in programming shouldn't be an issue
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