[Tristan Lall]

One thing to think about: if you want a bit more versatility in keeping your high ratio high, add more motors. That way, you can still manoeuvre hard in high gear, without worrying about current drawn due to acceleration. They gave us a lot of motors in the KOP, so you might as well use them.

I tend to design 2-speed gearboxes with the ability to spin the wheels when pushing against an immovable object in high gear, to account for the fact that shifters don't always work right. Failing to do this means that if you can't shift, you'll stall the motors pushing on things, and possibly damage the motors. (Depending on your confidence in the mechanism, this may be an unnecessary tradeoff.)