High Torque Gearboxes

[Ginger Power]

It was stupid of me not to provide more background info. The motor/gearbox combination if not for an FRC application. It's for a NASA Robotic Mining Competiton robot that my club is building. We were hoping to avoid chains/belts by direct driving our 24" wheels... hence why we need so much torque. The more I think about it, the more sense it makes to just give up on trying to direct drive the wheels. The reasoning behind trying to use cim motors and FRC components is because that's what we're familiar with, and we intend to use the FRC control system on our robot.

If anybody has experience with non-FRC motors that may work for this application I'd love to hear it.

Edit: Hex shaft is not a requirement, just easier to work with imo.