[Chris is me]

Originally Posted by artdutra04

Now even if they can overcome the traction limitations, they still have to deal with the relatively small field size. How likely is it that robots will have the room to accelerate to speeds beyond the top speeds of 15-16 ft/sec already seen on many FRC robots? Why do you think teams don't currently use three or four speed gearboxes that can theoretically take their robot to 20, 25, or 30 ft/sec? It's because the field is small enough such that gearing for that speed would never be useful.

While that's one very valid reason, a 4 CIM drivetrain takes a noticeable acceleration hit at around the 18 FPS mark. Current two speeds don't need to auto-shift for acceleration purposes; a faster drive would basically require it.