[les chortos]

The problem with Worm drive on the main wheels is that Worm drive is very ineffecient. What this means is that it draws a lot of battery power to drive the wheels. Last year team 772 . used a worm and wheel and at the start of a match could drive up last years ramp- ( the ball shooter ramp) . but at the end of the match after they run the battery down for 2 mins. could not.
Worm and wheel is good for high reduction ratios and if the worm pitch is choosen properly- self locking. - that a bout it.- they are generally high is sliding friction and cannot coast. If you want a "coastable" robot - do not use it.

In a nut shell- don't waste your time.- if it was good all the good teams would be using it.!