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I thougth of one limitation of the transmission idea presented in the first post.
When you take a 10 speed bike and roll it backwards, the one way clutch engaged, and drags the pedals around backwards.
so what this means is, not only would the low rpm motor not be able to apply a force in reverse direction, it will also limit that max reverse speed
because the low rpm motor will have to spin backwards (powered) to allow the clutch to rotate backwards
so if your low speed motor is geared down to have a max speed of 1mph, then that is the fastest you will be able to go in reverse - even though it is only the high speed motor that can move the robot backwards - the low speed motor will have to be spun backwards to 'get out of the way'
this could easily be fixed by holding the clutch open mechanically or pnuematically - but then you have implemented a shifter
and if you start down that path, you have to do a tradeoff study against a normal (shifted) two speed transmission.
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