In Talon 540's workshop, we shot a short video of our robot running with SD540's, which you can view here:
http://youtu.be/9lq6U3EpyTg
There are a total of six SD540 motor controllers on this robot: four for the mecanum wheels, one for the lift, and one for the pneumatic pump.
They worked like a charm! Our team highly suggests you switch to SD540's for the 2016 season competition and onward! The manufacturer, mindsensors, has their main web page at:
http://www.mindsensors.com/