We got the information posted on our shifter.
It can be found here:
http://eaglevex.syraweb.org/GearShifter.htm
Some prototype designs can be seen here:
http://eaglevex.syraweb.org/MiscSummer2006.htm
And the robot can be found:
http://eaglevex.syraweb.org/QCC2006.htm
http://eaglevex.syraweb.org/Hartford2006.htm
For the shafter encoder, it is placed on the "block gear" (three wide gear) and it worked very well in autonomous. Hope our post on our site helps with any question, if you have any more question, you can PM, AIM or MSN me.
~Team Unlimited, FVC 2013