Single or 2 speed gearbox?

Technical Technical Discussion
1

I have looked through the game and came up with my own version of a robot that I would find optimal. Except the only thing I am on the fence about is the drive gearbox.
I can see using a single speed geared toward 11 fps for simplicity and compact design but I can also see a 2 speed for getting over things fast while low gear is for pushing and if the robot gets stuck on a defense.
(Optimally a 7 fps and 17 fps 2 cim gearbox)

What are your options on a particular gearbox design and what is your team most likely doing?

2

I’ll ask you the same question I ask my students

What is the tradeoff between 1 and 2 speed gearboxes? What about 2 vs 2.67 vs 3 CIMs per side?

3

Single Speed Double Reduction from Vex, 12:57:1 ratio. They worked great for our Ri3D drivetrain. I don’t see the benefit of shifting vs. the volume/weight for FIRST Stronghold. If you decide to go for a low robot <16" fitting ball shifters on the drivetrain is a pain.