Quote:
Originally Posted by SBcake
Through our driving tests, we have ran into some funky results in terms of consistency of the shifts.
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What do you mean by funky? Is there a strange noise? Is there visible damage? Does your robot veer to one side when shifting?
To get a smooth shift, decrease power to the motors for an upshift and increase for a downshift. This is generalized, but it will get the gearbox's input and output speeds to match and cause less jerk.
Turning during a shift can cause your gearboxes to engage differently and cause the robot to veer to one direction.
I don't have any experience with autoshift in FRC, but some teams do it well.