FRC4322's first custom drivebase

[GeeTwo]

Originally Posted by Chak

There isn't a gearbox between the CIM and the wheel?
So... how fast does it go?

Are the CIMs tie-wrapped directly to the peg board? There doesn't seem to be room for anything else, given the size of the wheels and how much they stick above the board.

With no gearbox, I get a free speed of 90+ fps for 4 inch wheels, but a likely torque-limited acceleration of about 5-6 fps/s (less than one-fifth gee) at 40A draw per CIM. Bursts of greater acceleration are possible without tripping breakers.