This is our first drivetrain using shifting gearboxes. Each side has a VexPro ball shifter with two CIM motors. The gears are 16 fps high gear and 5 fps low gear.
http://www.youtube.com/watch?v=Ia4AvneNxak
The video shows full speed in high gear. After the test, we changed our Talons from brake to coast. Please post any questions or comments, and I or someone on our team will try to respond.