A steel bolt going through any kind of metal or plastic or wood will probably be adequate for a pivot bearing. Make sure the hole is just a little bit bigger than the bolt, perhaps a few thousandths of an inch up to 1/64 inch bigger.
Please read the robot rules in the FRC Game Manual
http://usfirst.org/roboticsprograms/...nt.aspx?id=452
which are very specific about what device you have to use to power the motors. Some motors can be driven with a Spike relay, others require a Jaguar or Victor speed controller.