[RyanN]

I would not run them in a PID control loop. Bad idea.

Do what others have said and run a Y. No reason not to. The motors will run about the same RPM, and even then, the gears make up for it with friction, so each motor is actually working to move the robot rather than working against the other motor.

I would not setup different PWM ports or run them in a PID loop. That's asking for a lot of back-feed into one of the motors. We've fried a Victor before by doing that when we were just moving the robot down the hall. Jaguars will be worse since their fan shuts off when not in controlled use.