hey what bout the globe motors?
 

Whta is the revolution per minute and torque output on the included globe motors? What voltages can they run on?

You should check out the "Whitepapers" section here on ChiefDelphi.com. In particular, you'll be intrested in: "FIRST Motors, Etc. (spreadsheet) by Joe Johnson."

From the spreadsheet:

Motor Only:

Stall Torque: .21 N-m
Stall Current: 21 A
Free Speed: 11,500 RPM
Free Current: .82 A
Peak Power: 63 W

Motor with Gearbox (117:1, 77% Efficiency):

Stall Torque: 19 N-m
Stall Current: 21 A
Free Speed: 100 RPM
Free Current: .82 A
Peak Power: 50 W

The motors run off of the 12V from the robot, and are controlled with the "Victor Speed Controllers" via Pulse Width Modulation. Hope this helps!