[Gdeaver]

Don't forget switching losses from the fet turning on and off. The fet is in the linear region during each cycle for a small period of time. Fets do not turn of instantly. Also, the black jags are switching both h legs on and off constantly.
The Victors are low side switchers. Black jag fets always see some current. Jags do not have diodes or TVS devices to protect the intrinsic diode of the fet from inductive kick back when they turn off. The decision to remove 4 fets from the jag and not re-space them may have messed with the cooling. I like the linearity of the jags and the robustness and size of the victors. Our speed controllers do not have on die temperature protection and no heat sinking for a thermal reservoir. We don't have the perfect controller but our robots keep on competing well. May be some day we will have the perfect controller until then take take your pick they will work most of the time.