As to the first question,
try this.
As to the second question, with much more difficulty than a wheel from AM or VP.
Getting torque to a large wheel might by akin to a FIRST Problem of Yore where there were teams that could figure out how to get torque reliably out of a Bosch drill and there were teams that couldn't.
The former had a robot that could play the game. The latter spun in circles for most of the match.
Think before you act...
Good luck,
Dr. Joe J.
P.S. Sorry about the snarkly link above. Couldn't resist. JJ