On 1986's drivtrain, we use mecanum wheels that are connected to the CIM motors with a simple 6:1 reduction using sprockets and chain. Each wheel has its own suspension assembly that is easily removed and replaced, and only 2 wires and 2 bolts need to be removed. This set up gives us a theoretical speed of 23 fps but in reality, its closer to 20fps.

To keep our speed so high and still have insane acceleration, our robot weighs under 80 lbs with bumpers and the battery. We could also lower this another 10-15 pounds by removing our modular ball knock-down device.