Be careful of rule <R45>, It appears that you have three CIM motors on each of those drive gearboxes.
Quote:
<R45> Motors specifically permitted on 2011 FRC ROBOTS include:
C. one or two additional 2½” CIM motors (part #FR801-001 and/or M4-R0062-12) in addition to those provided in the KOP. This means that up to four, and no more, 2½” CIM motors can be used on the ROBOT,
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