What is the best motor for intake rollers and for pushing a tray?

Currently my team is using high torque gearboxes for both rollers and tray and we have some trouble with them performing their tasks. What kind of motors have you guys been using to get the best stacking results?

Most people use 200rpm green cartridges for their intake rollers, which have twice the speed of 100rpm red torque cartridges and still have enough torque for at least 12 cubes.

Torque motors are common place for trays with a 7:1 torque ratio, but other teams run 21:1 with 200rpm as well.