Does anyone know how teams are hooking up shafts straight to the motor, with no gear cartridges?
This should help 
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I would berate you for not using the search bar, but the linked topic isn’t helpfully named. 
I will say, if it’s possible to use a cartridge and gear up or down to straight motor rpm, then I recommend it. It uses a little more space at the advantage of killing your motors a little less often, looking nice, and hey, who doesn’t want a little more torque?