[asid61]

Originally Posted by Michael Hill

Not to push my own stuff, but I've got a drivetrain simulator (http://www.chiefdelphi.com/media/papers/3038) that takes voltage drop into account.

It was based off of Ether's formulas (http://www.chiefdelphi.com/media/papers/2868) and uses Paul Copioli's motor combining formulas.

^ I have used Michael's calculator before to calculate the optimal gear ratio to go a certain distance (such as 17.6fps to go 2ft under optimal conditions). I highly recommend using it a few times for the design leaders of your team.