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Very ambitious idea! I fear it may be overly complex at this scale, but anything is possible. I wouldn't try to make homemade gears. To much room for error. I'd hunt through junk until I found likely parts. Old toys, watches, clocks, old timer units, etc. One aspect of this idea that bothers me however is the addition of another motor to fascilitate the gear changing. This combined with the transaxel set up may add to much weight to the car negating the gains from the gears. This is a side issue as it would still be amazing if you got the thing to work. Good luck to you! I hope you pull it off.
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If it ain't broke, tear it apart and see what makes it tick!
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