[AdamHeard]

The point shifts with the amount of friction in the drive, but past 10 fps with 4 CIMs in drive as a single speed is a risky proposition. Many teams have achieved success with it, but it requires more skill to drive. Slowing down in code is a complete nonsolution and provides no more benefit than the driver just deflecting the joystick less. It doesn't add any resolution.

The lack of precision due to the higher speed is one downside, and the ability to push real well without tripping breakers becomes marginal.

In my opinion, the single most beneficial thing a rookie team can to to reach competitive success is to build a 6wd kop frame with supershifters.

Shifting completely eliminates the tradeoff of being able to push hard enough, and drive fast enough.