[lamk]

For our elevator we are using a CIM with a 25:1 Vexpro VersaPlanetary gearbox driving sprocket and chain. The sprocket's pitch diameter is 1.79 inches. With a 40 lb load we can go up at 1.3 feet /sec measured. Our Pid controller puts out 15 % motor power to maintain the 40 lb load at set point. With 20lb load there is no motor output at setpoint with the talon set to brake.