I am thinking of using 4 motors, 200 rpm directly with 4 inch wheels ( 6 wheels total). 1:1 Gear ratio. The speed will be ~ 41.9 in/second. Is it too slow for push back. Also, do I need 6 wheels for extra traction or 4 wheels should be enough.

at least 400rpm. 200rpm is a lot slower than you think. Use your 4" or 3.25" Wheels.

How much speed in inch/sec should be a good speed?

If you only have 4 motors, I recommend 333 on 3.25 (~55 in/sec iirc). If you have 6 motors for drivetrain, check out the Catalogue of Drive Gearings post.

Optimum speed for Push Back

VEX V5 General Discussion

teambirb June 17, 2025, 3:28pm 5

This is really slow, I would fs recommend a much higher RPM. Around 400-480 is a good ratio, however you can go even higher. Here are some good resources for finding gear ratios

As well as my own that I made