I have a quick post about the transmission. I've seen it up close at the Indiana FIRST workshop and talked with team members about it (a student explained it to me). When I first saw the video showing the robot changing gears in motion I was quite amazed. I couldn't imagine how to design something to do that so effectively and as it turned out, the solution was simple, reliable, and cool. Nice job. If only we could build 'em like that
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P.S. Thanks for always sharing your designs!