[BJC]

I think you also want at least 6 motors in the drive. That should help quite a bit with acceleration in addition to a multiple speed gearbox. 254 routinely gears for about 17.5 fps in their high speed but they are also usually underweight and have their west coast drive down to a science.

As an actual competetive robot it would be pretty crazy for most games, but just as a offseason project it could be pretty cool.