[Al Skierkiewicz]

Tim,
We solder our wires to the motors. Be sure to clean the terminals first, some are plated and do not take solder so we have to scrape to base metal to get a good bond. It might help to split the strands of the #10 into two bundles, tin them, then crimp the two around a terminal and hold in place while soldering. Then form the wires (bend at right angle)over the end of the motor housing so as to keep some space between the sharp edge of the housing and the wire and then tywrap in place to keep any side load off the motor terminal. If you expect the motors to run hot(FP and drill) then the addition of a teflon sheet between the wires and the motor housing where you tywrap will prevent insulation damage during competition. Of course, heatshrink is implied to cover the joint.
A little hint while we are tallking about motors. We color code our systems so that a motor, it's associated speed controller, breaker and PWM cable and PWM output, all have the same color tape applied for easy identification when troubleshooting. If we want to kill the "brown" motor we just remove the "brown" circuit breaker.
Good Luck All