[EricH]

It should work. However, VEXPro is quite clear in the motor description that it is only 2/3 of the power of the CIM (and a higher output speed, meaning less available torque). For an FRC-season drivetrain, you will need to make the decision as to whether the lower power in drive is worth the lower weight of the drive and higher power available elsewhere for yourself.

That said, why not try going with 1 of each? They use the same mounting, and aside from the speed difference (which is pretty easy to deal with by gearing), they should work well together.