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I suggest checking out Nailguns thread in Tutorials and tips, he explains his system in full detail!
I will have to come up with my own system to have automatic reverse once the forward gears are working.
I've made some versions using RPM but there were a few issues with that, mainly that since it's so easy to spin tires, it will just shift up while you spin the tires. A real auto (at least older ones) would definitely do that if you stand on a patch of ice and floor the throttle, it would also eventually blow up. Another thing that's a bit tricky is the RPM values can change very quickly making the whole logic circuit go in a semi-feedback mode meaning it can shift up/down constantly when you spin the tire, auto shifts, regain traction but rpm drops making the auto downshift again, spin the tires, auto upshifts, repeatedly. You'll have to add some logic boxes to either smooth it out (which will increase the shift time..) or you can use either road speed and/or throttle position to prevent an upshift/downshift in those cases.
Well you can start by reading this post in the Automatic Transmission thread a made:
http://steamcommunity.com/app/325420/discussions/5/350542683189144706/?ctp=2#c350542683196496911
Understanding this can help in figuring out the best way to implement it.
The simple approach would be to connect a modify to the engine RPM output and set the offset as a negative of the rpm you want to upshift at. So you want to upshift at 2900RPM, use an offset of -2899. When the input is 2900, the modify outputs 1, use that 1 as your upshift impulse. You can do a similar layout for the downshift point. It quickly becomes tedious at that point, at least for me, because you need 1-to have a transistor pulsing on/off, checking if the gear needs changing for the circuit to keep working and 2-depending if you use setgear or gear up/down, you needs to have limits to prevent a downshift into reverse, and some form of smoothing to keep the whole thing stable. I haven't found an elegant layout yet. Here's an example of what i've tried (no smoothbox..):
http://steamcommunity.com/sharedfiles/filedetails/?id=800075201
Following the tutorial is how i discovered the reverse gear toggle after disconnecting the manual inputs.
Yes that's the main annoyance but once your vehicle is 'done' you aren't constantly changing ratios so in the end it works very well, just annoying if you implement it before finalizing other stuff first.