[asid61]

Whoops, I forgot to change the wheel diameter in the calculator. 14fps is plenty. You could still go faster, but you don't really need to then.
Good choice on the versaplanetary if those ar eyour reasons. You would indded have to get a keyway into a regular pulley if you went banebots. What kind of manufacturing resources does your team have?
The AM9015 is a relatively high power motor. If you want the lower speed, go for it, but buy an extra set of pulleys and belts to test out if you can.
Again, see if you can flip the cim. If will greatly lower your COG.