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Well the main problem I see is that you are applying 2.5 times the rated voltage of the motor. Even if you use PWM to vary the speed of the motor the excessive power is still being applied to the motors.
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Hmm... that could be the problem or it couldn't be. It is a common practice to overvolt a motor. If you are running these things near stall then in all likely hood you will destroy them but if you are running them near no load then there shouldn't be a problem.
By the way what are the specs of the motors you are using?
That would make everyone's life easier.
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