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anyway, my problem is that i dont know how to represent a smooth change between the infinite gear ratios and relate that to how much time it will take to cross the finish line (312 inches later). obviously i am starting at a velocity of 0, and an rpm of 0. this should give me a torque just as the motor starts to move of 23.3 ounce-inches. i know i want to minimize time, and maximize velocity. i think i have to use an integral to represent the cvt, but im really turning around in circles here. oh and by the way, the diameter of the drive wheels is 3 inches. please can anyone help me out here?