[Jon Stratis]

Lets also keep in mind that most robots won't be sending 30+ A to a motor for more than a minute. Your CIM motors will get that high when you're starting from a stop, or when you're pushing against something, but those are typically relatively short moments. Most of the match, your drive train will be pulling somewhere in the teens, if not lower. As for the other motors... even the FP we had powering our elevator last year wasn't pulling 30 A throughout the match... and it was either stalled or moving pretty much the entire time (and we had some serious binding issues in the elevator).