OK so I calculated RMF for the robot when it is on the 25 degree ramp:
RMF - 0.595 lb*ft*rps
Momentum - 0.400 lb*ft*s
Motor Rotation Speed- 0.637 rps
When it is off the ramp it only needs an RMF value of 0.0212 lb*ft*rps, meaning it will go extremely fast when there isn't any incline ( which is good ,
)