[Rob Colatutto]

What speed did you calculate that to drive your robot at with the 12.5 inch wheels your using? I looked and took some educated guessed and calculated it to be about 15.8ft/s. Did you run any numbers on that to obtain your current draw at that speed? How about how well the robot will turn with 4 pneumatic wheels? Also from the drawings it doesn't appear like the bosch is held into the gearbox with anything, is it connected at the bottom in an unseen way? I also share the concern about that output shaft, I would not recommend to have something that long as a cantilever shaft. It also looks like you are planning to have the gearbox slide into the chassis and be bolted in. I have had experiance with mounting gearboxes like that and I would suggest against it, espescially with a more than 2 wheel drive robot. Under the highest stress situations, the gearbox will be sliding around on you and the bolts will try to loosen.