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Re: HTD Belt Pulleys
You could also use 4" wheels instead of the 6" wheels from the KOP to get a more reasonable combination of speed and force. You may need to consider other factors along with this decision, such as ground clearance for frisbees beneath the bottom of your frame, but this may help provide more options if you can't find the exact pulley size you'd like for a 6" wheel.
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[2017-present] FRC 0020 - The Rocketeers
[2016] FRC 5811 - BONDS Robotics
[2010-2015] FRC 0020 - The Rocketeers
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Ultrasonic sensors will allow you to do fundamentally the same thing that the bump sensors do...so you can slow down and smoothly stop your robot just before it reaches the end wall, instead of running into it at full speed and then figuring out "ohh! there is a wall there!" - dlavery [more] 
Hybrid Mode
