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Re: pic: Back-in-Black 4-speed Top View
http://www.chiefdelphi.com/media/papers/1580 is the whitepaper. I'm not sure if it details their programming techniques for automatic shifting, though.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
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