Quote:
Originally Posted by Thundrio
the mech lead says the gear ratio is 5:1 running of a andymark cimple box using 2 cims.
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There's your problem!
To run a robot with 20" wheels, you need an overall ratio between your CIM motors and the wheels of about 40:1 to 50:1. With 20" bicycle wheels and only the AndyMark Cimple Box ratio of 4.67:1, your robot is currently geared for about 99 ft/sec! With this gear ratio and wheels that large it's unlikely you'll even be able to drive even in a straight line without tripping the 40 amp breakers.
If you switch over to an AndyMark Toughbox (12.75:1 ratio), you can then use a final sprocket reduction (for example, a 12-tooth sprocket on the Toughbox output and a 42-tooth sprocket on one of your wheels). This will make your robot geared for about 9 ft/sec under nominal load, which should fix the over current issues with your drivetrain.