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Re: PWM
There's no reason to not Y two motors mounted to the same gearbox. You would then reduce the number of PWM ports you are using, and reduce the number of connections around the DSC.
Our 2012 robot had 17 PWM devices and a single Digital Sidecar (10 PWM outputs). Thus, we had 7 Y-cables. We also ran 3x Victors on a single PWM port and never complained about it.
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