[GeeTwo]

Lead screws sound like an awfully low reduction if you're only lifting one GP with each motor. Though I guess since you're using four CIMs on your drive train, (neat-looking Killough, by the way), you're more limited on the lift motors. Are all four lifts going to operate on the same side of the robot? If not, that would keep your COG over the robot, though scoring would probably take half as long as picking things up.