[nicholsjj]

It's not that hard at all if your team keeps track of its spare parts. You will need four bolts to mount the motors to the other motor mount port on the gearbox, our team also uses thread locker on them. You will want to attach a CIM shaft output gear with the keyway and retaining clips on the CIM motor before you attach it to the gearbox. Make sure you are using the same tooth count as your other CIM gear that is already mounted. You then will need to add two more motor controllers to your electronics board. You do not have to change programming at all if you are using tank drive. You will however need to change your pwm cable to a Y-pwm cable and plug those outputs into both the already used controller and the newly placed controller. Also pay attention that doing this doesn't add to many CIM motors to your robot total, 6 large CIMs total are the max. This also adds a higher current draw for your drive but it is usually a good choice IMO due to acceleration being increased.