[nathan_hui]

Rarely is any setup in FRC high-speed and low torque enough to warrant not using a gearbox. Now if you use the pulley to set up a gearing reduction, that's not too bad.

Another thing is that all of the motors were designed for use with a gearbox. I believe someone pointed out that the CIM lacks real bearings around it's shaft, so it's not set up for taking dynamic load on the shaft. For the rest of the motors, it should be fairly obvious: you can't put much on the small shafts, which is why you put a gear on it and stick it in a gearbox.