[caffel]

Last year there was no rule aqainst over the counter gearboxes and FIRST tries not to favor teams with good machining capacity.
You might want to check out the 'Mulitech' gearboxes. They have some that have the right features. Also NPC Robotics has a nice one that mates to the Chiphua motor, but is a worm gear design and so may have limitations as a drive motor.