[Gdeaver]

Yes, 1640 used RS395 motors 1 year. Decision was based on motor availability. The 395's performed OK that year but we did burn up a few. That summer active cooling for them was explored. Heat was a problem. Since then RS540's have been used with great success. We also added a quick change feature to the Banesbot trans and motor mount. the motor, pinion and base plate can be removed and replaced without total transmission removal. 2014 was the most abusive year for our swerve. The 540's held up but were routinely hot after matches. The 300's would not have worked in that game. Do not under estimate the amount of power needed for future games. RS540's are probably the minimum. 2015 put absolutely no stress on our swerves. 300 would have worked.