Programming for a Shifting Gearbox

[Adam.garcia]

While looking at Andrew Palardy's spreadsheet, something occurred to me which I had not thought about before. In a two speed shifting gearbox, the "low gear" will have a higher acceleration for a small time frame than the "high gear" would. And this led me to a few questions:

1) Do some teams have logic built into their code to "auto-shift" according to where the acceleration is the greatest?

2) Is there some sort of logic through the use of sensors (or other means) that can be developed so that the robot will know when it is either pushing into a stationary object (whether it be a wall or other robot) so that it can automatically shift into Low Gear to provide the extra torque needed?

If other teams have used this method, can you please explain how you developed this logic?

Thanks!