We need to program the wheel rpm instead of motor for programming in autonomous and the gearbox pdf only give the teeth number and pinion teeth number, but there are multiple pinions it has high gear and low gear.
The teeth for the high gear is 42 and the low gear it is 34
And the pinion has four different teeth
11 and 12 for the inboard
13 and 14 for outboard
Sorry I know it is really confusing but any help would be great