[evolution]

Something to keep in mind is that an increase in torque is no good if you can't translate it into pushing force. You'll notice that with some of the most popular traction materials out there (wedgetop, roughtop) and the current total weight of approxametly 150 pounds, the wheels on most robots slip during a pushing match. If your wheels are slipping in this situation, it isn't going to be of much use to increase your drivetrain's torque (since the torque already exceeds the frictional force dictated by the normal force and coefficient of friction). So, in essence, if you aren't slipping in your lowest gear, it may be worth it to add in the additional CIM.