What is your drivetrain's top speed?

[pilleya]

Originally Posted by Lexeo

We will realistically be able to hit a top speed of between 17-20 ft/s, (takes about 3-5 seconds to accelerate to that point).

Originally Posted by GeeTwo

If I understand you correctly, we're getting across the field faster with single speed 2-CIM gearboxes based on our time trials with a tote full of spare parts to simulate full robot weight. As strange as it sounds, you'd probably get across the field faster with slower gearing; I suggest you do more math.

A robot with single speed gearboxes and 4 CIMs total each can cross the field in under 4 seconds. Choosing a high-gear of 2.81:1 sounds a little bit much, something around 4-5:1 could be a better option. It also means that you don't to worry about tripping your breaker if you accidentally start off in high gear.