gear box with two motors

[apalrd]

1. The load on the jaguars is the same. You shouldn't worry about it too much. You get theoretically double output torque though; more pushing power. In theory.

2. You should probably use encoders for Autonomous programming. You probably won't need them for Teleop.

[Chris is me]

Originally Posted by apalrd

1. The load on the jaguars is the same. You shouldn't worry about it too much. You get theoretically double output torque though; more pushing power. In theory.

That's not quite right in theory.

There are two things that limit your pushing power, torque and traction. If you're limited by torque when pushing, then when pushing against immovable objects, you will draw a huge amount of current and trip circuit breakers. You can add more torque by changing gearing and / or adding motors, until you provide more torque than your wheels can ever exert. When this happens, when pushing against a wall, your wheels will slip. This is called traction limited.

Adding two motors allows your drive to become traction limited while running at higher speeds than a single motor.