Its not the breakers
 

We had this problem. Especially after hitting a goal our motors would stop and start randomly. We replaced the sprokets on our drive wheels with ones of almost twice the diameter and the motors never gave us trouble again. We figured out to do that after swapping the breakers with new ones, double checking wires, swapping pwm cabls, and even switching victors to verify where the problem was.

Probably the contacts in the breakers oxidize from the arcing each time the breaker trips, resulting in more resistance at the contacts and more heat being generated at the same current flow. This additional heat will make the breakers trip earlier at the same current, and trip at lower average current.

Yeah, what Kit said makes sense. If you happen to have a 30 or 20 amp breaker the you tripped a lot you probably want to replace it. I don't think they were designed to cycle tripped to on that much.

working
 

we figured something out and it worked well for our public viewing today just thought I would let you all know. first of all we did a voltage scan program so we would know the exact voltage every motor starts at and then went and changed the opp program to assign thoses voltages with the motors so all the wheels start at exactly the same time. this helped alittle because it reduced drag. the second thing we did was put in a "jerky motion reducing program" atleast thats how it was described to me. what it does it when control changes are very sudden the type that will make your robot "dance" it averages the data input and smooths out the driving. This works well because it is the instant change/high ouput in voltage that is tripping the breakers. well thats what the softwear people told me. I'm sure that I could get a copy of the code if anyone wants it
greg