2016's 2008 robot, with an ackerman steering module, there are pictures on CD somewhere of the module.. was set around 21 ft/s, we never got to measure the actual speed. Also I would look at 102's robot from 2008 they had a really fast robot as well.
we were running somewhere between a 6-7:1 gear ratio on two cims with 6" wheels. Pretty controllable for lapping, outside of lapping it was like driving a car, literally. we actually set that robot up with a steering and pedals to make it easy to drive and handle on the field...
heres one of the matches:
http://www.youtube.com/watch?v=g58N0...eature=related
Btw, this is a full 120lb machine a little more with the bumpers and battery. i think we recorded 13 laps at chesapeake in one of the matches.
20ft + is not undoable in FIRST, controlling it is the hard part. One of the only reasons we were able to control ours was because of the ackerman steering and running laps being the objective. (steering was favored to help turning left).