Optimal wheel size...

[LLogan]

Originally Posted by hornetshornets

Speed and pushing power are our to priorities.

You will have to find the optimum balance between the two. Unfortunately, you will have to give up pushing force if you want to gain speed and vice versa. (Assuming you're using single speed gearboxes.)

Your best wheel size will depend on other things: what kind of gear reduction are you using through your gearboxes? What kind of sprocket reductions are you going to use? Is there physically enough space for the wheel on the robot?

I'm just going to assume you're using Toughboxes because they are the most readily available gearboxes. Here are some additional ratios to the standard 12.75:1. Only one of them will slow you down and add more torque.

Here are some additional sprockets. You can change these out to tweak your speed/torque ratio to whatever you want.

I unfortunately don't know your team's exact goals so I can't make any recommendations for your overall reduction.

Just do the simple math of CIM RPM -> through Toughbox ratio -> through sprocket reduction -> mulltiply by wheel circumference -> convert to ft/sec.