What is the optimal drivetrain torque

[Gigahertz.t]

@barintun

what is low and what is high?

Assuming you have a 66w drivetrain, a high torque low-speed (in my opinion) is at or below 58 in/sec, while low torque high-speed drivetrains are above 62 in/sec

Xenon made a great post about this:

Catalogue of Drive Gearings

Due to frequent questions and discussions on drive speeds, but not a lot of resources on the layouts of the possible gearings themselves, I’ve created this resource for people to see a catalogue of drive speeds that I’ve deemed as viable, and some commentary on each layout. All drives shown here are on 6 motors, and all drives here are compatible with center traction wheel. (some drives have 8 wheels so traction will be offset from center). The layouts shown can easily be translated to 4 motor …

@barintun

For both defensive and offensive play what torque should I use,

That entirely depends on you, your driver, and your strategy. Some more offensive people (like me) like blitzing around the field and outrunning opponents (snatching up stuff before they do), so we gear our drivetrains for speed. Other more defensive people like gearing their drivetrains for torque to bully opposing robots and (in this game) dislodge them from corner modifiers.

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Try finding a good balance for your driver. If you want high torque and high speed, I recommend making a drivetrain with >66w (I’m probably doing a 77w or 88w drive this year)