Drive Train Speed

[xForceDee]

Let's say I want to run a drive train with a sonic shiftier run off two cims (although I don't think the # of cims is important). Cim motors have an approximate free speed of 5310rpm. The sonic shifter I want has a 30:1 low gear reduction and a 7.5:1 high gear reduction which will be spinning two 22 tooth sprockets each attached to a 24 tooth sprockets on the center two 4" diameter wheel. From there, two sprockets of the same size (not sure what size yet) will attach the center two wheels to the outer two wheels. The wheels will have the blue mcmaster-carr tread running on standard frc carpet from 2013. Assuming the robot is roughly 130 lbs with a battery, how do I go about calculating theoretical speeds in high and low gear?

I understand the basics of gear ratios, so I guess the bigger question I have is the friction and weight factor. However, if someone could run through the entire process, I think it would be very beneficial to other teams. Thanks in advance!