[techtiger1]

Adam please seach before you post this topic has been discussed many times. To answer your question though it all depends on the game and how your team wants to play it. Generally 2 speeds has been worth it lately bcuase of the need to move quickly to get an object then slowly to score the object. In addition two speeds don't always have to be heavy look at servo shifters and 254's 2007 gearbox. There are also swerve drives which don't require 2 speeds at all becuase you can simply move away or around the 6 wd and 8 wd robots. In conclusion do your research on this topic, look at your teams manufacturing capabilities and analyze games/robots from the past. Good luck this is always a tough question this time of year, my team is shifting for 08 just to let you know. As for as your wheels/treads slipping look up PID loop control and research wheel materials. Speeds vary from year to year and team to team, we find that 8- 9 fps with one speed running two Cim motors per side works well. Shifting is a diffrent story the 1251 2007 robot is 3fps and 13 fps but generally we like to keep it around 6 and 12. Speeds depend on your drivers really I know alot of teams use 7 and 14 quite frequently.

Just a few thoughts ,
-Drew