That sounds like two different issues. If you are pushing it all the way to the floor, you're engaging the clutch brake, which stops the input shaft spinning so the gear can be engaged. This is only to be done (pedal to the floor) when trying to engage reverse or starting gears from a stop. DO NOT DO THIS WHILE MOVING. When you clutch, you only tap on the pedal partially down..not to the floor. If you are floating gears, you don't touch the clutch at all. The lack of grinding you note, is the purpose of the clutch brake so you can get a starting gear (Low, 2nd whatever you start in) in gear. With the input shaft not spinning it's easier. But when rolling, pushing all the way to floor means you're trying to stop the spinning, which is not what you want to do, you want to match engine and transmission speed for a smoother shift if you use the clutch. Doing it while moving destroys that clutch brake early. Floating means you are getting the rpms/speed high enough and shifting fast enough at the right rpm that the clutch isn't needed to match. Learning how to do it all, if useful. I learned floating years ago from a friend who had hip replacement at a young age and he had to learn that to be able to work. Except for starting gear, he never used the clutch afterward.