Micro gear motor RPM for a tracked flipper

[antimater]

Hi
I'm digging out my old ant stuff and getting back into antweights. I have a zumo chassis I used for a little autonomous robot project a while ago. But one of the gearmotors got shredded and it's sat in a box ever since.

It's been a long time since I've been building antweights. And I'm having trouble picking the right RPM motors. The wheels/tracks are about 35mm in diameter, and I am guessing that I'd like it to cover the arena in around a second, but I'm honestly not sure if this is too fast or too slow.

I will be using a 2s lipo and they are 6v gear motors. I'm thinking 50:1, but any advice on an ideal ratio would be great. I don't want a super fast ant as I'd like to retain some agility. But all the drive commands are going throguh an MCU so I can easily add restrictions and expo on board.

Also I'd like to re introduce myself. My names Tom and i've attended several AWS, roaming robots and robots live events with pingu my antweight and thants my feather that now belongs to Liam Cozens.

[Theo]

I would just use the tracks from a zumo chassis. it's already overweight without any electronics. as far as I know, the maker of the zumo chassis sells the micro gear motors, but you'd need the ones with the extended shaft apparently. I think tracks have the advantage of traction, so why not complete that with more torque? I'd go with 50:1. Good luck!