[Lesman]

Our team is trying crab drive and we've got most things ironed out, but we still have a few questions.

The MA3 looks excellent, but the reliability thing is disturbing. Out modules have unlimited spin, so they won't cause permanent damage to the robot, but they can really mess up a match. Would putting the encoders in a makeshift Faraday cage solve the problem with static discharge?

And second, a more mechanical question. What RPMs should these modules be going at? Our team was shooting for 120RPMs, approximately a 1:2 gearing from the denso window motors, and a similar setup on a globe.

Will there be any issue with using different motors for different modules as long as they are left/right symmetrical and all in independent closed loop control systems?