[Oblarg]

Originally Posted by Ether

Perhaps something like this.

Amusingly, that's essentially exactly what my naive approach would have been, software-wise. Thanks.

I'm still partially leaning towards swapping out our gearkit to 7:1 or 8:1; we've got two spare gearboxes which should expedite the process greatly (much easier to switch out the whole gearbox than to change the gearkits of the ones on the bot). We can probably absorb the hit in top speed without too much trouble, as our defensive strategy is very much based on positioning and pushing.