Custom Planetary

Last year my team used the NBD setup and it was reliable but the speeds it gave us were not ideal, we had around 3, 10, and 14fps if i remember correctly. i love the compactness of this setup but not the ratios. Anybody know of a way to remove the out there ratio (12:1) and put it closer to the others? (4:1,3:1), i’d like to achieve around 3, 6.5, and 10 fps

I’ve now found a contact that can make planetary setups, they also happen to be the company that made some gears for the mars rovers so im sure there capable. Has anybody out there made a custom planetary transmission? at all?

Team 326 has.