[InFlight]

The Problem with FRC usage (except 2015) is you will eventually get into some form of low speed, high torque pushing contest.

Assuming a 120 robot with bumpers and a battery weight, you could assume around 35 pounds of normal force per wheel (w/ four in contact). Assuming a coefficient of traction equal to 1, that would provide a traction limit force of 35pounds. With eight inch tires, that's a traction torque limit of 140 in*lbs

A two CIM drive shifted to a low speed ratio of 24:1 has a stall torque much higher than this per wheel. Thus the wheel traction becomes limiting factor rather than the motor torque in most cases.

A 24T Pulley (PD of 1.5") has a resulting belt tension of

Ftension = T/r = (140 in*lbs)/0.75in = 187 lbs.

The 140 in*lb torque value is way over the recommended limit for a 24T Pulley for either 9MM (36.9 in*lbs) or 15 MM (70.7in*lbs). In a very defense game you could potentially break either belt width.

Larger pulleys have higher torque limits, and lower resulting belt tension.