[MattB703]

There is one other thing to consider. In my early days in FIRST I was a part of making some single speed robots with way too high of gearing. Even so they still were able to move themselves. At one point we decided to try gearing the machine down some and we were shocked to learn that it went faster! I think that many teams might be falling into this trap when they try to make very high speed multi-speed robots. There comes a point when it just won't go any faster and gearing to theoretically go faster will just result in a slower robot that is drawing way too much current.