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Originally Posted by Cory
You should be fine with 20; pretty much everyone uses 20 almost exclusively in their drivetrains.
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20 pitch gears have good tooth strength, but you also have to remember that the width of the gear plays a big part in the gear's strength. Generally teams use a 0.375" gear width, but you can go over or under, depending on the load the gear is supposed to take.
For example, you can safely go to a .25" gear width for a pinion gear on the CIM motor, because it takes little torque and high rpm. On the other hand, you may want to use a .5" gear width for the last gear in your transmission, the gear that spins the slowest and carries the combined power of all the motors in that transmission. This gear would have to transmit the most torque, so it needs a stronger gear tooth.