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Why do you need a shifter for lego league? You don't need to push and load or any other robot, so high gear will work fine. It is not worth the motor or whatever actuator you are using to shift, as you could use it for an arm or something.
What is shift-on-the-fly about it? The fact that the gears will mesh because they are plastic? It actually wouldn't shift unless the robot is moving.
If you are just building this for the heck of building building it, then thats awsome, and you should ignore this rant.
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