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Another easy solution to the SW control issue.
The driver will know when he is in a shoving match - you could have a button or use the trigger on the joystick to powerdown the high speed motor (give it some power, but not alot)
this then becomes an automatic transmission most of the time - when the bot is not pushing an obstical, you can apply full power to both motors from a standstill, and the bot will acellerate out of the low gear range quickly, and transisition into 'high gear' smoothly
and then when the driver wants to really load up the high torque motor, he can squeeze the trigger or button, to keep the high speed motor from over heating
kinda like pulling your auto tranny into low when you are going down a hill, or plowing through deep snow.
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