[btcshields6]

Okay. I'll get with our drivetrain guys to see if we could fit an E4P in. Otherwise, do you have suggestions for something easier to install and use?

Also, we're using a 6 CIM drivetrain with the talon SRXs. We'll probably also need to use encoders on our feeder/shooter motors as well. Do we need an encoder for each of these? 6+ encoders?

Thanks,

Benjamin