More questions about Dewalt transmissions

[AJ R]

Our team is trying to come up with a way to attach an axel to the output shaft of the dewalt transmission, and we would like to know how other teams have done it or suggestions to do this. Please post pics of possible.

I have read the transmissions can shift on the fly, but how well do they shift under a heavy load? If we were in second gear and started to push against annother robot and shifted down to first gear, would the transmissiom hold up or break?

Thanks