[kramarczyk]

You actually want to shift before you hit your low gear top speed. From a math standpoint you want to do it at the point that your velocity versus time plots for HG and LG cross over. You may want to adjust it for driving style. I recommend using the FRC Mastery framework and having this variable in a driving typedef in Robot Global Data. This will allow you to do a soft code deployment and iterate in on the 'right' value with your driver pretty quickly by adjusting the value in Front Panel.