6 wheel drive with chain tensioners and shifting

[nnfuller]

Well having only driven in two years of FRC, I can only speak limitedly on speed. However, when designing a robot you have to look at what you want it to do so the speed you want may be determined by the game... but in my experience, 4 CIMs can easily drive a 6 wheel drive train at about 16 fps, and if your shifting you really don't need to worry about lots of torque in high gear. Especially with the four omni's giving you almost no resistance to turning. In one of our off season bots we had it so that we limited speed through software and we could pull both triggers to open up the full 100% of the speed. Your sacrificing weight for Supershifters, use them to their complete advantage.
Also, Servo or pneumatic shifting?