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Re: ⁶ CIM drive-train brown out
+1 to everything KrazyKarl92 said
In addition, in my experience, versa planetaries are not suitable for sustained, high torque applications. We had versa planetaries with bag motors powering our rather heavy intake arm in 2014, and they tend to fail internally. They are fixable, but you don't want to have one fail.
Brownouts are not likely especially because only four CIMs will be on the ground at any time, I expect the gearboxes to fail before you could get near there anyway.
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