[Travis Hoffman]

48 currently runs one A-M SuperShifter powered by 2 CIM's direct driving a 4" Brecoflex halftrack pulley on each side of the bot. Tread thickness adds .25" x 2 to that to yield a total driven wheel diameter of about 4.5".

Custom 25T:40T final drive gear ratio yields theoretical 16.2 fps in high gear per JVN's spreadsheet. No load taching of the right side gearbox output in the pit yielded 770 RPM or roughly 15.11 fps. Obviously actual performance is somewhat south of that, but it's still fast enough for our liking!

When we added the gearbox mods in Pittsburgh, the right side drivetrain gave us problems with breaker popping until we cleaned and realigned the boxes. We ran well with no major problems at Buckeye (at least in teleop mode). We were one of the fastest and most productive lappers at the event. The halftracks (with four passive outbound omnis providing stability) turn beautifully and provide excellent straight-line control.