Mecanum Wheels & Torque

[ksafin]

Hey everyone,

I was wondering if the CD community could offer answers to a few questions.

Some users pointed out that we had a torque-issue on our Mecanum wheels because we were using CIMPLe boxes. I saw it as a real problem but it was too late to correct for some reasons.

Moving forward, I wanted to see if there was a simple way for us to rectify it by asking these questions:
(we're using 8" mecanums from vexpro)

- Which Mecanum wheels require less torque, the VexPro ones or the AndyMark ones (and which?). VexPro's have .9 coeff. of friction but AndyMarks have .6 (moving sideways) so I'm assuming AndyMark's would require less torque since they have slippery polycarbonate rollers.
- What's the optimal torque needed for 8" mecanums on a standard 150 lb robot to strafe, and to turn and move normally? (using CIM motor)
- What's the lowest torque necessary to do the above? (in order to maximize speed)
- Is there an easy way to make it work given our current setup? (CIMPLe box with 1 CIM motor, a KOP 39 tooth pulley, and KOP 42 tooth pulley on the wheel)

Thanks!