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Were using the Chips with a 10:1 sprocket reduction, at 40 amps
We're using 8" custom skid-steer pneumatic tires.
We had NO problem pushing around drill-drive bots.
We're around 8-9 fps
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-=Sachiel7=-
There's no such thing as being too simple!
Look for Team #1132, RAPTAR Robotics at the VCU Regional this year! 
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