[Solace]

for a reasonably fast, powerful, and simple(r) drive train, i'd go with a 4 motor, single speed gearbox. coming from a team that has done many different transmission types (2 motor single and two speed, 4 motor single and two speed), i can say that gear shifting is a no longer a necessity once you put in four motors. it is handy and cool, but certainly not a must do. plus, the added complexity of gear shifting can be a pain if and when it breaks.

with four motors, you can make a single speed gearbox that(when properly synchronized) goes 8fps and can turn out just as much power as you would ever need in a FIRST robot. just remember that the standard 4 wheel skid steering is enormously inefficient at turning (a fact that leads some teams into their more complicated two speed transmissions to get more power). go with something more efficient (*cough*six wheel*cough*) and stresses on your drive train will be greatly reduced.