[JesseK]

Since you have a single speed, I would recommend against wanting more traction for 'defense'. If your wheels stop slipping and your motors are at full power, something is going to give -- either a current breaker, bolts, gears, etc.

Small critique -- the digital sidecar is miles away from your cRIO in the CAD. I don't think there's a COTS cable long enough to go from the cRIO to the digital sidecar in your drawing, so perhaps consider moving them closer. If you're worried about EMF through the CIMs, consider making wiring channels above your P80 gearboxes. Also plan to put your wireless router in a more accessible spot (perhaps it can trade places with the digital sidecar?). Ethernet cables are cheap, lightweight and shielded so it doesn't matter how long the wire from the router to the cRIO is.