[jee7s]

To shift a transmission (without a synchro) smoothly and properly would mean knowing the output shaft speed, input shaft speed, and motor speed. When a shift occurs, the clutch (however it is implemented) releases, and the transmission shifts. The input shaft speed changes when the gear is shifted. Knowing this new input shaft speed, match the motor speed to the input shaft speed (or at least get close). Re-engage the clutch....Bingo, smooth shift. It's really just a matter of timing and acquisition, assuming the transmssion is robust and reliable (difficult to do at the FRC scale in 6 weeks).

-JEE