[Tytus Gerrish]

okay. awesome arefin. great job working with inventor.

now for the Critiquing...

i question the sheer size of this gearbox and the long skinny standoffs holding the plates together. the CIM is a 300 watt motor Perfectly capable of bending, breaking and shearing aluminum with its torque. secondly i suggest some machining to remove material from those gears, i say this not from a weight standpoint but rather from an inertial standpoint. a robot traveling in one direction at full throttle having to slam it into reverse or turn would benefit from less inerta in its gear train simply because its easier, more efficient and takes less time and energy to reverse the direction of a 4oz gear then an 16oz gear. the mass of your gears along with the skimpiness of your standoffs is a deadly combination. also removing the hubs making speed holes and using key ways, or if you don't have a broach witch is most of us try using one of the various locktite products for binding rotational parts together. the stuff works great and it doesn't take much work to use it. i would also suggest that instead of using the clevis's for mounting the cylender i would suggest you drill a hole in your plate and use the threads of the cylender as a bolt and lock it on with some 5/8-18 nuts that would also then act like an extra standoff for you. On the happy side, i like how simple your shifting is. just slide the gear easy right? well, make shure you chamfer the edges of the gears that are meshing into each other to keep them from grinding when you shift. Well, thats my twoCents.