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Re: compact transmission
You really need to lax the requirements or prepare to spend a lot of money and time on a custom design.
For the season, 3 speeds really isn't necessary. the easiest option (although it is past your length requirement; but a small CIM is about 4 3/4", so a shifting gearbox that is only 6" total is kind of wack. Especially a planetary) would be an andymark super shifter to power each pair. The mounting plate would have to be remade with some changes to allow a 3rd motor.
the other good option would be to put the dewalts in the module with slip rings.
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