Currently, our robot is based on a 4 motor (100 rpm) chassis. The wheels spin at 233 rpm with a 7:3 gear ratio. We had a 2-motor(100 rpm) 4-bar. The lift has a pneumatic powered latch. We also have a 1 motor (100 rpm) auxillary lift in the back. Lastly, we have a 1 motor (600 rpm) ring intake/lift