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Re: toughboxes
There is no "one" formual for calculating the optimal drivetrain configuration.
If you'd like a one-stop tool, you can use JVN's Design Calculator that he recently posted here under the media papers section. However, it's only as good as your base assumptions, and those generally take a bit of "gut" knowledge about how systems work.
Barring that, the generally accepted way is to use the motor torque and amperage curves, weight of your robot, and estimated mechanical losses to calculate a baseline. I'm certain your physics teacher could help you in that regard.
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