Worm gears are fraught with peril for FIRST teams.
Well, actually, they are fraught with peril for any application, but some times you need to face your demons!
In one off applications like FIRST robots, you really need to know what you are doing to use a worm gear (other than the one in the window motors of course).
Getting the center distances right is a harder task, managing the thrust loads, etc. etc. And don't get me STARTED on efficiency (you flush half to 2 thirds of your power right down the drain -- and that is if you do things right you can waste 90% easily without even trying! But... that is is why they are not backdrivable - so that can be a plus but...)
My advice: find another way if you can.
As for me and my house... ...I am thinking this is a job for NBD --
Nothing but Dewalts -- Worked for me and Chief Delphi in Raising the Bar, I don't see why it shouldn't work for Breakaway
Joe J.