@ Max. Ref your query on comparing motors. Change to a common system of measurements, I prefer metric in this case and N.m, Using Newtons work of Force= Mass x Acceleration (F=ma) convert 0.78kg to Newtons by muliplying by g (accelation due to gravity 9.81 m/s/s) this gives 7.65N-cm. Then convert cm to m by dividing by 100, 0.0765N-m then multiply by 1000 to get mN, hence 76.5mN-m, so motor 2 is better by 2.5%. I've been racking my brains to remember the formulae to calculate the speed/accelaration to weight section, but it currently escapes me.