Things live within that we mortals will never know.
The optimum configuration will give you greatest speed but still have enough torque to cause the wheels to break traction (peel out) before the motor stalls. That optimum configuration varies from bot to bot and is up to you to figure out how to best implement it with your own robot.
I tried to make a robot once . . . but I ran out of breath trying to get her blown up.
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