[DonRotolo]

I agree: The BaneBots trans is great, but it can be backdriven. You need to use a motor that is not backdriven, as squirrel mentioned. Some sprocket reduction - a tradeoff between power/durability and movement speed - and you should be good to go.

We did exactly that in our rookie year robot, a 12 tooth sprocket on the motor, about 48 tooth on the arm, using a window motor and the van door motor. The van door motor did the work, the window motor was there only because it did not backdrive - it acted as a brake of sorts.

Don