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Re: pic: 2 Speed Transmission
15 fps is probably too fast for FIRST purposes. Most teams and drivers agree you lose the ability to easily control your robot after about 11-12 fps. Additionally, you can easily outrun most other teams at around the same speed.
If you wanted to keep the 3:1 ratio, I'd aim 12 fps and 4 fps (with inefficiencies slowing it slightly from those values).
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