[Maxwell777]

I jokingly mentioned to a teammate earlier that we should cad a 4-speed gearbox, but now that I think about it, has anyone else ever done a 4-speed gearbox and controlled it like an automatic transmission in a car? It seems fairly straight forward, have an encoder on the shaft to determine if the robot is either stalling (trying to push another robot) or has stopped accelerating (has hit full speed), and in response, either shift up or shift down.

Has anyone done anything like this and do you think it is worth doing?