[Al Skierkiewicz]

Bryan,
This picture is a classic example that I would use when demonstrating a different approach to robot wiring. Long, small wires will not give you the power you might expect from CIM and FP motors. The wire produces series resistance that lower the available power from this high current motors. However, a few minor changes can make huge improvements. By placing the PD in the center of your board, you shorten the path length between the PD and speed controllers. By then placing speed controllers near the motors they will control, you shorten the path again. I would guess that your robot like most, will be running four motors. If they are close to each other, then place the controllers close enough to the motors that you won't have to add any wire to the motor. If you have two motors on the front and two motors on the back of your robot then place the speed controllers in a like manner, two in front and two in back. This simple rearrangement of parts will cut 6-8 feet of wire out of your design, make things much neater and give you maximum power from your drive motors. If you use #10 wire instead of #12, you will cut the series resistance in half.
The Crio and the sidecars can be placed anywhere that might convenient (or for COG weight distribution) as they do not draw significant currents nor do they produce signals that are affected by long runs.