[Ari423]

We used those same worm gearboxes in our arm this year, and we found they had a relatively low max output shaft torque rating. We sheared the worm shaft (or something like that) without putting what we considered to be excessive torque on the arm. And since they are non-backdrive-able, that could be a problem when doing hard direction changes with high CoF wheels. Make sure you take that into account when you design a robot around these.

Also if you're doing a drop-center 6WD, each wheel would be driven by one CIM so at any point you would only have at most 4 CIMs of power going into the ground. In pushing matches, if you get pushed onto your back wheels, you will only have 2 CIMs of power. Maybe you should look into a belt/chain connection on the modules to link them and transfer the motors' power equally between the wheels.