I will refer your question regarding current limiting to our programmers although I do think it was ramping.
You are correct that the model shows pneumatics. We substituted Colsons for the as built version. We purchased the colson wheels without any hubs to push out.
I got them that way from The Robot Market Place. They have a really nice selection of all kinds of wheels and shipped quickly.
http://www.robotmarketplace.com/prod...5-6-456-2.html
They also have the hubs
http://www.robotmarketplace.com/prod...-217-3430.html
We purchased them directly from VEX though...
I just pushed the VEX hubs into them with a press. Easy....
We are going to be testing the wheels at our practice field soon. We know that on concrete, the Colson's don't have the traction that the WCP Pneumatics have. They aren't bad... and we wore out quite a large number of the WCP pneumatics during the competition season.
We initially wanted to use them primarily for demos and parade activities so that we didn't wear out our pneumatics. We will be looking at using them for competition this year too. They are heavier than the pneumatic wheels but not a great deal.