[Joe_Widen]

I'm saying actual speed. The motor specs say that 5310 rpm (+/- 10%) is the free speed. The normal load is at 4320 rpm.

This year, our robot went roughly 10fps and I had no problems controlling it at full speed. We had no sensor or feedback either.

Live axles are actually easier to do with crab drive in my opinion. I'll look into dead axles, but hey what ever works best I'll do.

Well, the whole point of this is a summer project. If next year's game has obstacles, I'll change up the configuration to use 6" or 8" wheels, or not use crab. I just want to get a prototype so we can give the programmers something to do, holonomic drive practice (i know its not the same as Mecanum or omni but its the same general concept), and to look into if its worth implementing on a robot.

I've already thought about if we need a small CIM for another apparatus. We either go to 3 crab modules or use two Fischer prices. Also, we have too many steering motors to choose from as it is. So we can easily integrate a globe or a window or a vandor in really quickly with minimal headaches.

I plan on using 1" w, 4" d IFI wheels. There shouldn't me much of a problem turning. If we go with 3 modules, it'll be even easier to turn because there will be an independently controller wheel.

Thanks for your concerns and I hope that with your help, I can put together a monster crab drive.