pic: Team 2220 Blue Twilight Octocanum Offseason Project

[Jeffy]

Originally Posted by sentientfungus

The way we have it geared currently, by my calculations (using a 1:9.52 gearbox like the the VexPro double reduction), we would be running at ~12 fps adjusted on the mecanums and ~8 fps adjusted on the tractions (using the JVN 2012 design calculator).

To me, those both sound like rather reasonable speeds. There's also that we have a maximum sprocket size on the 4" wheel (which I believe is something like 44t sprocket). Running that reduction would bring us down to ~6 fps adjusted speed. That's something we might consider if we were to run this in a competition, but probably won't deal with on the prototype, at least initially (because of the aforementioned large amount of 32t sprockets lying around). We might also get a variety of sprockets and test out how it feels in different configurations.

It sounds like you are not running a reduction between the gearbox and the wheels. I urge you to do this. If you do, you can switch to a single reduction box which will save some weight and efficiency (especially important on a drive like this).

If you really want to save weight, you could integrate your gearbox into the wheel module.