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Re: pic: All Terrain Swerve 1
I don't see how those motors don't have much torque. The CIM's have more than enough power for the drive on a 40-60 pound bot and the fisher price through a 256 reduction should have like 60 ftlbs. of torque which should be more than enough.
In any case the robot should be moving when turning the modules which will significantly reduce the turning force
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