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Me and my partner are finishing up our robot for the RobotCup and we desperately need one more motor port. We will only use 3 sensor ports, so my question was if there was even the slight chance that we could switch one for the other.

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That's not possible - sensor ports don't have the hardware to drive motors. That said, you can buy a motor multiplexer like this one to do the job for you, if competition rules allow this.

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