Now, I do not know about your robot at all, but rather than doing this with the programming, why don't you just change the gear ratio of the DT? This will probably save a lot of headache (If your DT is anything like ours). It will, in turn, give you more power, but in most robot destruction cases I have seen in the past 4 years, it has been because of the speed of the bot.
If this is not what you are looking for, then please just disregard this! Hope this helps!
