pic: Planetary Transmition

[Madison]

Alex,

Can you post a section view of the inside of the planetary so we can have a better look at how you're planning to modify those transmissions to achieve what seems to be coaxial shifting? Most planetary gearboxes used in shifting transmissions on FIRST robots work my sliding the ring gear between stages, but that'd be difficult to accomplish using a coaxial shifting mechanism.

Also, if you're actually getting a ~117:1 reduction in low gear and ~3.5:1 in high-- It's too early for me to do that math -- consider how useful such a large change really will be. What sort of mechanism might require a ~33.5:1 change in ratio in normal operation?