Take the heatshrink and shrink them on the shaft of your motors. Use a lighter to attach them.
Yo can put more layer if you want to, different colours.
I even saw some people use hot glue stick on the end of the shaft. They took 1cm of the glue stick and attach it directly to the shaft. BEWARE, you robot wil be VERY speedy and it might destroy itself on the first obstacle it will hit.
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