Yes. The G540 maxes out at 3.5A with or WITHOUT the resistor. The thing is though, without the resistor, or with a resistor greater than 3.5K, the Idle current limiting does not work. This may cause the motors to get hotter than they should. These 3.48K resistors are a good choice and will not go over or under:
3.48KXBK-ND
They only come in a pack of five. With shipping it's about $2.50
http://digikey.com/
CR.