[aphelps231]

We used a BAG motor on a 9:1 Versa Planetary and switched to a 10:1 for champs. This gave us a wheel speed of about 13fps on our 2" wheels.

I would not run this setup again. The BAG motor tended to stall out when intaking the ball from the side (we ran 2" mecanums on the outer rollers), and the intake was a little slow. A 775pro would have been much more beneficial, as well as faster (speed was the big issue since stalling was fixed by tuning compression).

A handy tip for anyone looking to increase the performance of their mecanum intake: set the intake to have about .75 to 1" of compression, and allow it to be pushed up by the ball when intaking. We achieved this by using an in line pressure regulator to limit the extension side pressure of our pistons on the intake. Although it could be done with code adjusting your Kp value in PID (while intaking == true && the intake position is in a certain range with the lower bound being full extension and upper bound being 0" of compression) if you're using a motor with an encoder to move your intake.