[SoftwareBug2.0]

We have used six CIMs in our drivetrain. However, our drivetrain never used more than four of them at full power at once which probably helped avoid any current/voltage problems. No special software was needed.

Our gearboxes were geared at 9.7:1 although the effective gear ratio from motors to groud speed varied somewhat. Either way, we probably should have gone with slightly more reduction.

We were a few pounds underweight and couldn't push worth beans, which was expected given our design. As for random tips, stability is more about how far away your points of contact are from each other than about how many there are.