[ks_mumupsi]

From the last 11 years of seeing a lot of different drive trains, I have to say practice makes one of the biggest difference in ability of drivers to handle speed.

In Overdrive, we used 4 CIMS with a 7:1 reduction using the AM Stackerbox with an ackerman steering, which seemed to work really well, we approximated our drive speed to around 22fps.

Last year, we went a completely opposite direction and designed an 8 wd using 8" skyway wheels, we were an even match for even some of the lowest geared robots. It all depends on whats appropriate for competition. This year on a flat field I see advantages to a 2 speed transmission in gaining speed but I dont think it will help with anything if the drivers cannot learn the change the speeds well on the fly. The shifters now have gotten far better than they were a few years ago.