[AlecS]

Like Adam said, there is definitely a benefit to gearing for lower speeds when pushing. Most noticeable, will be the lower current draw. For instance, when geared at 5fps, you could slip the wheels (at your specs) without even exceeding 40a continuous breaker. At 10-12 fps, you can still mathematically slip the wheels, however you would be drawing far more current, and it would not be sustainable for long periods. Also, when you account for real world batteries, and other electrical loads on the robot, it would be debatable whether you could actually sustain wheel slippage, due to the excessive current draw.

This does not however, invalidate the idea of gearing for a lower spread (200% ish). IMO, 5-6 fps is painfully slow, as I would prefer our drivers avoid the pushing matches altogether.