have you adjusted the trimpot on each drive? It will help tremendously with smoothing out the motors and reducing noise. Its covered in the manual. Other than that, you will have a little noise but it shouldn't be too bad. Also make sure you aren't sitting your motor on a table or something that is acting as a sound board and amplifying the noise. If you are, it will be much quieter once its bolted on to something solid.
Matt


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