> For the complete documentation index, see [llms.txt](https://docs.plummerindustries.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.plummerindustries.com/drive-systems/drive-corners/wheel-options.md).

# Wheel Options

We currently offer two wheel options. The standard treaded FRC wheel that teams have been using for decades and a 3d printed wheel that teams can develop, test and tune on their own. This page compares and publishes our testing data with the FRC community. 

## Wheel Type Comparison

<table data-full-width="false"><thead><tr><th>Wheel Type</th><th>Treaded</th><th>3D Printed (Hard)</th><th>3D Printed (Soft)</th></tr></thead><tbody><tr><td>Weight</td><td>4.2 oz</td><td>3.6 oz</td><td>3.4 oz</td></tr><tr><td>Usable Life</td><td>10 Matches</td><td>10 Matches</td><td>2 Matches</td></tr><tr><td>Change Time</td><td>5 Minutes</td><td>1 Minute</td><td>1 Minute</td></tr><tr><td>Manufacture Time (for Team)</td><td>5 Minutes</td><td>1.5 Hours</td><td>1.25 Hours</td></tr></tbody></table>

{% hint style="info" %}
We find that a wheel assembly set is easily stored in Schaller Bin 0308-2
{% endhint %}

## 3D Printed Wheel Comparison and Data

These are some starting points that we have tested using the provided spiky wheel model.&#x20;

Print without top and bottom layers

{% file src="/files/KXJVajdLwwkAnzg489Lt" %}

| Wheel                  | Hard             | Medium           | Soft                   |
| ---------------------- | ---------------- | ---------------- | ---------------------- |
| Model Used             | Tall Spikes      | Tall Spikes      | Tall Spikes            |
| Material               | 95A TPU          | 95A TPU          | 95A TPU                |
| Infill Pattern         | Triangles        | gyroid           | Triangles              |
| Infill Percentage      | 40               | 35               | 30                     |
| Wall (loop) count      | 3                | 3                | 2                      |
| Print Time (per 4 set) | 6.3 hours        | 5.5 hours        | 5.25 hours             |
| Usable Life            | 10 Matches       | 6 Matches        | 2 Matches              |
| Failure Mode           | Loss of traction | Loss of traction | Tread Material Failure |
| Failure time           | 15 Matches       | 10 Matches       | 4 Matches              |

{% hint style="info" %}
We find that a wheel set is easily stored in Schaller Bin 0306-2
{% endhint %}

{% hint style="warning" %}
Using match life as a unit of measure is not ideal. Depending on driving style and other factors this life may change. However it gives a good comparable measurement between options and is accurate for what we have seen on fairly competitive robots with even weight distribution during actual competitions.
{% endhint %}

{% hint style="info" %}
To see our testing methodology on COF (coefficient of friction) see our testing page [here](/pi-frc-testing/coefficient-of-friction-wheels.md)
{% endhint %}


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