[Pratik Kunapuli]

During the 2014 season, our robot had a 6 cim, 2 speed drivetrain with a low gear ~4 fps and high gear ~17 fps. The only real times we used high gear was if we needed to travel the length of the field very quickly, or to maneuver around defenders and not push through them. Realistically, your driver will learn to control the high speed and will learn when to shift into high gear. Its mostly a "feel" thing and if your robot needs to go 20 fps, then he will learn to drive it well.