Good afternoon,

Two questions:

My bot's wheels keep spinning on the output shafts so I'm planning to take the inside shoulder off all my wheels and drill through the wheel hub, 3/8 unf nut and motor shaft to either install a bolt or split pin. My question therefore is whether to use a bolt or split pin? My gut is going for a nut and bolt but wanted to see what more experienced roboteers might think.

Second question is related to brushless drive. I've seen some sensored motors on Hobbyking that produce 350w and, through a 20:1 gearbox on 80mm wheels, would run at 15mph. Thing is that these motors are rated at 2s so I'm wondering whether this could potentially work even if the voltage is very low compared to what's been before?

Cheers

Dan