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Not sure
I'm not sure if this will help but our team this year shifted on the fly by using a little pnumatic cylinder to shift back and forth. We also added a spring to help the cylinder shift back to high from low. I don't know if this helps you at all since I'm not exactly what kind of drive train your going for.
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2003 Newton Division Winner
3rd place 2003 National Championship
1st place 2003 Canadian Regional Winner
2nd place 2003 Buckeye Regional Winner
2003 "Best Stack Smasher" from the Artic Warriors.
2003 "Most Feared Robot" and "Best Autonomous Function" from team 1064.
~from when I was on team 378 The Circuit Stompers
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