All jags were independently powered from the distribution board, fused at 40 amps and wired with 10ga. Power consumption to each circuit should have been the max of 1 motor. Two front motors were Cim's w/ simbox and KOP gears and sprockets with #35 chain and 8" plaction wheels. Rears were the 16000 rpm AM motor coupled to a AM planetary with the simbox and KOP gears and sprockets, 8" omni wheel #35 chain. We realize there is a difference in RPM between front and back, testing under all foreseeable conditions proved it to be an acceptable setup. Our acid test was a %500 game cycle test at accelerated driving speeds. We are going to set the bot up and load test each circuit under varying conditions, this should provide us with some good data.