pic: Concept 6x rs545 planetary gearbox

[sportzkrazzy]

Looks like a fun project but in a FRC situation you would probably use a mini-Cim. They put out 2/3 the power of a Cim (around 1.4 nm at 6,200) and only weigh 2.16 lbs. Plus they have the added benefit of only needing one motor controller, wire run, and Pwm slot. Although on the other set up you could run CAN to minimize the signal wire runs and clean it up a bit.

Sometimes even If you have the motors laying around it makes more sense to buy what you need. In this case 25 bucks would save you machine time, the price of the stock and the price of the gears and pinions. It would probably actually save you money and time in the long run to be honest.