MarkT: On such things as in/oz vs. oz/in, my memory sometimes trips me up. On the other hand, doesn't it strike you as odd that the convention is ft-lbs and oz-in? Torque should be represented with a dash, not a slash. A slash suggests "per", but it ain't ounces per inch, or inches per ounce, for that matter. My bad.
I never considered taking the motors apart. Don't have any desire to disassemble my watch, either. (I did that once when I was 10 or 11. The watch kept stopping. I thought it had dirt in it and was determined to clean it out. It didn't work out as well as I thought it might).
polyglot:
If you just want some working software, get and read GRBL
Does GRBL take care of all the calculations needed to draw straight lines?
John