[BJC]

Shifting is an interesting solution to an interesting problem.

First, what is the problem that teams are trying to solve by shifting?

-My answer would be that, "we want to go fast and push hard." This stems from needing to go fast to get somewhere on the field and pushing hard to get through someone in your way while trying to get there.

A single speed transmission needs to maintain enough torque to not trip its breakers while pushing. Most of the time that much torque is not needed while driving around on the field. However, when it is needed it better be there or the robot's breakers will likely trip.

A two speed transmission still needs to maintain enough torque to not trip its breakers while pushing. However, using it's second (higher) gear it can drive around most of the time at a faster speed that it would not be able to safely push in.

Of course, there is more then one way to skin a cat, peel an orange, or make your drivetrain go really fast without tripping its breakers.

Another potential answer to the same problem is to add motors to the drivetrain. Their isn't any law that says a drivetrain has to be four CIMs. By increasing the overall available power one can gear the robot higher (improving its speed) while maintaining the same level of torque.

Another solution is decreasing the overall drivetrain weight. While the robot can be geared faster and not trip its breakers the overall pushing force of the robot decreases because there is less normal force on the wheels.

Now what if we used a shifter, had 6 motors, AND decreased the overall robot weight?

Just some things to think about.
Regards, Bryan