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We use the drill shifted using one central servo. To fix the meshing problems we took a great idea from the Cheesy Poofs' 2001 bot.
Our programmer rigged us up a little program so that whenever you switch gears, it stops the robot and moves back and forth really fast for a cycle or two while it switches so the teeth don't grind.
I didn't write the program but it works really well. The guy who wrote it goes by wakezero on CD. PM and i'm sure he would send you the program.
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