Attaching Things on WCD

[Chris is me]

Originally Posted by JorgeReyes

By this do you mean calculating the correct gear ratios to use?

There's a range of ratios where you're geared too fast to push continuously anyways but too slow to really get an acceleration benefit. It's around the 9-12 FPS range depending on who you ask. I would recommend experimenting with 4 vs 6 CIMS on your own in the off season to get a better grasp on how they help. 4 CIMS is perfectly adequate for a lot of robots; the jump from 4 to 6 CIMS is a lot less dramatic than the jump from 2 to 4.

If your budget is constraining your design I would probably stick with 4 unless you want a drive in the 5-9 FPS range (you'll be able to push for longer stretches of time before tripping a breaker), or you are going 13+ FPS at full weight (acceleration is noticeably better). Even in these ranges it's not mandatory to go with extra motors.