As a general reminder, be aware that the GTGP document
isn't a part of the rules. If there is a contradiction, the rules will be enforced.
Also, there's a quirk in the specifications for the F-P motors (9012) in both the 2006 and 2007 GTGP documents: maximum power is given as 387.5 W, but if you look at
FIRST's 2006 spec sheet for that motor, that's in fact the electrical power drawn (W
i), not the mechanical power output (W
o = 171.0 W). (The difference is because of the 44% efficiency at that point on the power curve.)
By way of comparison, the other motors are listed in terms of mechanical power. (I just verified the FR801-001 small CIM has W
i = 698.4 W, and W
o ≈ 337 W, as listed, and I think the others are similarly denoted.) So be aware what's what, when you're designing things.