[Kevin Sevcik]

Another thought. If the drivetrain was working ok with the drills, why don't you try testing the drills outside the robot and such? If you think it's a problem with the motors themselves, there are several atlanta teams. try to get in touch with them and borrow their drills if they're not using them.

If you're using the gears (they have diagonal teeth) with the CIMs, then they aren't being geared down enough to work. The CIMs look like they're designed to work using the sprockets, chains, and 6" wheels. If you want to use the CIMs you'll have to completely change out your drive system.