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Interesting re: dual motors. To me the simplest is to just one set of igbts and one controller in slip mode and two motors in parallel. Read both motor speed signals and take the max speed for determining slip (prevents wheelspin runaway and encourages the slower one to speed up). Set 0% throttle to not regen and coast around the corners when you can. The latter fits well with "good" driving, traction pie habits anyway, you *shouldn't* be braking or accelerating much while turning and saving your traction for changing direction.
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