[big1boom]

We did the calculations, and 1 CIM would provide more than enough torque to skid the wheels. But then when it was tested at Midwest, we have just enough torque to get nearly maximum acceleration. But we do not have enough to spin our wheels. This means that we are always in static friction. So we actually have better traction than bots that have to use sensors and traction control code. This is why we were able to push around Wildstang, who have 4 CIM's and active traction control.

We could throw a 2nd CIM in. But as it is now, the CIM does not overheat, we have maximum traction, and fairly good acceleration. So why change?