hello! we used 200rpm catridges on our base, geared down 5:3 for a 333rpm on 3.25 inch wheels, which is the same as 270rpm on 4 inch wheels 
we found the balance between top speed and acceleration pretty desirableā¦
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How much does your bot weigh?
they will need to weigh it.
but i have seen 8059A using lots of ziptiesā¦ drastic weight-loss measures involved. lolā¦
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