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Re: drive train wearing out?
I'm with Kevin on this one... we built a six wheel drive kitbot with the centre wheels lowered and 6" IFI traction wheels on each corner for the Aim High game a couple years ago. Even with two CIMs per side and a slight reduction in the sprockets the robot had difficultly turning on carpet. It may be that the carpet you tested on was lower friction than the carpet at the tournaments. (Edit: or that your robot was lighter at the time or had a different weight distribution.)
If you can try slapping a pair of omni wheels on the heavier end of your robot, I am willing to bet that all your turning issues will suddenly disappear. Yeah, your traction will drop a bit, but given the nature of this year's game and the gear ratios that you have that should have little effect on your machine's performance.
Good luck with it!
Jason
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