I think the transmission issue depends on the robot itself. For example, an auton hanger (like 190, that uses the ramp and then hooks on to the bar) doesn't need a transmission (except when facing 716
) on the wheels. During design session, I suggested a robot with a transmission on the arms to cap quickly, and to use power to hang. A crazy smallball robot may even use a tranny on the small ball mechanism. It all depends on the type of robot. For this year's game, I would suggest trannies for the wheels, since it was a robust pushing game.