Best Place for Learning FRC Motor Mechanics?

[MAXOFLIFE]

Basically, our team has a decent handling on how to program motors, but little knowledge on the best way to properly utilize them mechanically. Even though our robot is a cooperative effort, each member of our small team usually specializes in different functions of the robot, but most of us have little knowledge when it comes to motor accessories and how to utilize them effectively (or even what they're names are for that matter).

Recently, our team had the grand idea of trying to use two snowblower motors to control an arm on our robot to lift the portcullis and push down the cheval de frise (we wanted a motor with a form of worm lock to increase stability). After spending ten minutes or so on the forums I realized this was a terrible idea since we wouldn't have had anything between the motor and the arm and probably ended up with two dead motors by the end of our first few practice sessions.

Since we have a low budget and limited knowledge, one of our team members suggested using our two CIMple Boxes from last year's chassis to control our arm with 1 CIM on each box.

My two questions are:

1. Is the above idea with 2 CIMple Boxes horrible and completely inefficient? Would it make due if we didn't want to purchase any additional materials? Even thought this setup would require additional programming to maintain the arm's angle, I'm fairly certain we're capable.

2. Can you please point me in the direction of an organized location where I can learn about the basics of motors and their various accessories designed with FRC materials in mind?

Thank you for taking the time to read about my team's plight, any help we receive is always greatly appreciated!

**Again, thank you to everyone for the helpful responses! It never hurts to have more information!