Hi! This instructable will show you how to modify car window lifting motors that you can salvage from old cars in order to use them in your robots. This kind of motors have a very high torque and you only need to make some adapter pieces to make them usable in your robots. It is a short version of the original post I made in my blog that can be seen here.
If you salvage this kind of motors from old cars, the first thing you have to do is to test them. Plug them into a 5V or 12V power supply and check if they spin. The motors have a worm gear that gives them a very high torque and stops them from rotating if any mechanical force is applied to them. They only rotate if current is flowing through the coils of the motor.

Step 1: Make first adapter piece

The motors that I got have an interesting thing: the axle does not spin. The only thing that rotates is the white plastic part with three teeth around the axle. Those three teeth fit together with a black rubber piece that has a total of 6 slots. You'll have to make a piece that will fit in the remaining three slots. I used my Dremel and a piece of Arnite plastic to make it.

<p>Hello, do you think I can a build a brushless motor controller for my quadcopter using encoders?</p>
Hi! You could attach an encoder to a brushless motor but it would be a different kind of encoder. You would want an encoder designed for rpm count, not for position, such as the ones that I describe in this instructable. However, quadcopters do not need any encoders. You should use an inertial measurement unit together with a PID controller.
What Kind of Torque and rpm do these motors give?
I'm not sure, since I don't know their specs, but from the specs of other similar motors think their specs are something like 10 N.m and 100 rpm
I am really impressed by your dremel routing technique
Thanks! It took some time and had to use a vise to hold the plastic piece but in the end I was able to do it :)

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