The transmission works by transmitting power to both one side of the differential and the differential case in high gear (input shaft speed + differential case speed = output speed), but when the resistance on the output shaft becomes too high, the clutch gear slips and stops spinning the differential case (input shaft speed = output speed), dropping the gear ratio by nearly half as only the differential core rotates. A side effect of this is that there is a net gear up in high gear and a 1:1 gear ratio in low gear, so I had to add gear reduction to the output shaft to keep it from downshifting too easily. I haven't used it yet, though; my primary consideration is how I'm going to jam in between drive motors, the drivetrain, the steering and steering motors, and other functions. I can't make my models too big.