I’m doing some motor calculations to figure out the torque I need to rotate the bottom part of the swerve module I’m designing, here is my math

160 lbs for robot weight with battery and bumpers

160lbs/4 modules = 40 lbs per module

the colson wheels have a CoF of 1 (this is from the vex website). Times 2 wheels per module is 80 Lbs.

at a distance of 1.5" each wheel should create 120 Lb-In of torque.

If we convert to nm we get about 13.5. I was planning on using a BAG motor and was hoping to have it on a 20 Amp breaker, and also only use one gearbox stage. With this criteria I can achieve a 80:1 gear ratio for the bag. Even at 20 Amps, this only gets 12nm of torque.

I was wondering how other teams handle this problem. The bag can handle it at 20-30 Amps, but then the system uses all our 40-30 amp breakers, I could use a 2 stage gearbox, but this adds considerable cost to the design. Also, I’m not exactly sure about my physics, so if you have any suggestions, or corrections to the physics, I would be grateful for your expertise.