[MrBasse]

There is nothing wrong with using only two CIMs in a drive train. I'm willing to bet that a large percentage of rookie teams do it every year (like us last year). If you don't have a need for pushing it works just fine. With a light robot, we were at 87 lbs last year, we did well enough to make it to the finals in both of our regionals. Never once cooked a motor, in fact we still use those motors on our old robot.

We have four this year simply because we plan to cross the barrier using six wheel drive and use bigger heavier wheels and tires.