[MrJohnston]

We've run six CIM drives quite successfully a few times, but we do struggle with brownouts when we do... We've found that if we require that much power in a drive train, we really need to limit the number of other tasks our circuits must handle... Pneumatics help a lot... We find that, when we need that much power, 4 CIMS, a drive system with good traction (6 wheel tank?) and a two speed gear box gets us plenty far... That allows us to be a bit more creative with our manipulating functions.