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Well, actually the wheels by not providing "perfect" traction (i.e. no slipping whatsoever) is good. During a practice competition, we were able to beat a 6-motor drive system robot (not mentioning the robot) mainly because they had more traction and because of that, their 60amp breaker broke. Our wheels spinning actually prevents any breaker from breaking.
And oh ya, Woburn, congrats on u're robot. It looks excellent. I especially love the wheels and gearbox. They were amazing. Good luck at the Regionals!
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