[Jimmy Cao]

Well, I have some info/data about our drive train this year.

It was 4 wheel, linked left/right power and steering crab. Wide side "forward".

It seems that this year wide drive robots had a better time getting around, as well as an easier time not getting pinned.

The crab was really nice for pinning, as well as maneuvering out of tight situations.

We did some tests with a fish scale and determined that the drivetrain itself (120 lb + 15 bumper + 12 battery) can give ~9-10 kg of thrust.

We also had fans on our robot. Using a different setup, we tested each fan to give 2 kg of thrust, without a shroud. Two fans -> 4 kg. Each fan was powered by a CIM directly. In the end, after efficiency loss, the fans together probably output 3-3.5 kg, or an extra ~30-40% thrust. It was noticeable on the field, at least from a driver standpoint. First, it made acceleration much faster. Second it made it easier to stay in contact with a robot once contact is made. Third it makes it easier to hold robots once you get them to a wall.

That's all I have. I hope that's what you were looking for.