[lukevanoort]

I tend to design for 25% stall torque, which keeps the motors from the kit nice and happy for a long time. With some motors this is overkill, the globe happens to be one of them. We actually stalled one for an entire match (programming mistake) and while it was quite hot after the match, it still worked fine fine. (Almost gave one of our team members an uppercut not ten minutes later, actually) Your current design is very conservative, and will be very slow. If you use a 9:1 reduction I think you'll be fine. (This loads the motors to 50% of stall, which would eventually melt a FP or BaneBots, but the globe should handle it fine)