So, if you have one motor per wheel, would it be better for gears, or direct contact (axel is the same for motor and wheel)? I am just curious.
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I think it would be better to look into belts or metal chain. I would not use the vex chain, just because it breaks easily.
Chains used properly (meaning within their specifications) will operate correctly. Like anything you use, ask yourself, how will your robot perform if the subsystems fails? I like to ask teams who use plastic battery clips, what do they intend to happen when the plastic fails? Not if, but when. Your designs should account for material failure - be it plastic, metal, … all materials will fail - just a matter of demand of your application.
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