FRC4322's first custom drivebase

[Chak]

Originally Posted by GeeTwo

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.

90+ fps means 60+ mph.
Just off the top of my head, I'm sure there's a reason robots don't go that fast. Something about tripping fuses and breakers?
Maybe you can use some Versaplanetary gearboxes to get reduction with nearly no change to the rest of the structure.

Originally Posted by Nxmq99

This was built as a test platform for new programmers.

No encoders? I'm not a programmer myself, but programming for encoders seems like a good skill to learn.