[baronep]

I would suggest not using CIM motors (they are much more useful in a Drivetrain). For the shooter my team is using 2 Banebots 775 motors with a CIM-U-lator gearbox on it, which gives it an RPM similar to a CIM motor. In my experience this season, you want about the RPM of a CIM.

(Our two wheeled shooter can shoot the full length of a field, now we just have to aim)