[Michael R. Lee]

Also consider pulling functionality off your robot. Generally (discounting the drive train) consider doing only 1 or 2 things within the game... usually n tasks, n - 2 for time and then from that subtract 1 for weight. For example, this year you could be grabbing a tetra off the stand and putting it on a goal. If you've been following the good advice of the people here and lighting up your gearbox.... you got to take the weight off elsewhere. The "stock" FIRST transmission they gave use needs serious machine time to make it "reasonable" to install.