pic: Schreiber Take on West Coast Drive

[Chris is me]

The funny thing here is that while you're preaching to us how doing the math is better than a pretty render, I think your drivetrain won't perform adequately with the gearing you've outlined. 10 fps with 4 CIMs isn't the best acceleration, and you are nowhere close to traction limited. Pushing matches will probably trip your breaker faster than I would be comfortable with. Your gearing would probably eat through batteries faster than I would want as well. You could increase your reduction a bit to become traction limited at much more feasible currents, while increasing your acceleration enough to virtually make up for the speed loss in a Breakaway like field.

This is assuming you bring your robot to full weight. At the 27 pounds pictured, I bet you would have zero problems.