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Re: Sonic or Ball Shifter?
Full disclosure: I haven't used either in a robot (yet) but recently made the same decision (and went with the ball shifter).
Strictly from an analytic standpoint I like the gear ratio spread on the Ball Shifter better than the Sonic Shifter. The ratios aren't too different, but I like the closer ratio of the Ball Shifter.
The Ball Shifter includes the shifting air cylinder, whereas the Sonic Shifter does not. You will have to add $20-$30 onto the price tag of the Sonic Shifter if you plan on shifting penumatically. On the other hand, if you do not plan on having any pneumatic components on your robot otherwise, the servo shifting of the Sonic Shifter becomes very appealing.
The Ball Shifter has options for Greyhill and US Digital encoders, whereas the Sonic Shifter appears to only have provisions for US Digital encoders (though it's not explicitly specified). If you plan on using Greyhill encoders, this is certainly something to consider.
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