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Greenfield police said the mother acted as the getaway driver, while her son robbed the stations at gunpoint.
The teen was visiting from Chicago for his mother's birthday, police said.
The woman's three other children, a 13-month-old girl and 10- and 14-year-old boys, rode along during the robberies. Greenfield police Deputy Inspector Bradley Wentlandt said they have been turned over to the Bureau of Milwaukee Child Welfare.
The woman admitted having a drug problem, Greenfield police said.
She and her 17-year-old son were being held at the Milwaukee County Jail on Wednesday morning. The district attorney has not yet filed charges.
