[Oblarg]

Originally Posted by Chris is me

If you're traction limited at, e.g., 60% of stall or ~70 amps per CIM (lots of faster single speeds), you'll really never slip in a pushing match that you're winning.

This isn't what I've experienced. Now, I will admit that my teams rarely use super-high-traction wheels (AndyMark HiGrip and unmodded Colsons, generally), so that could be a contributing factor.

Mathematically, at full throttle you'll slip the wheels at any speed below where the motor's torque value exceeds the torque generated by the static friction of the wheel.

If you're traction-limited at 60% of stall, this means any speed below 40% of max (assuming a linear torque curve). This is probably not quite right, because of voltage drop and other issues, but I see a *lot* of pushing matches where the movement in either direction is clearly a lot slower than that.