So just to clarify I’m not asking about auton. We can change the gear ratio but the way we do it the gears are to large so we would have to change our robot completely. We have time but we would rather not do completely disassemble our robot so thank you for any help.
If your program spins the drivetrain’s motors at less than 100% speed, you can turn the speed up. Otherwise, you’ll have to make some hardware modifications - you can’t make a motor spin faster than 100% speed.