[Madison]

If you have the resources and are set on using four CIM motors on your drive, I recommend that you purchase two of the adapters available for the 56mm BaneBots transmissions rather than two additional planetary gearsets.

Not only are the adapters considerably cheaper than the entire gearbox, but the adapter and gearbox together are lighter than two gearboxes by nearly two pounds (per side!). This weight savings will come in handy later.

Should you use 4WD, driving your wheels together from a single gearbox allows you to better distribute the available power as needed in situations where one or more wheels may have less contact with the floor than others.

If you're planning on using 2WD alone, I'd instead consider using a single CIM motor per side and concentrate your on-field strategy toward avoiding confrontation. Despite what many will tell you, it's possible. Unfortunately, 2WD arrangements often perform poorly in pushing matches, so your resources are probably better spent on other functions instead of trying to overcome the intrinsic shortcomings of the design with respect to certain functions.