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What size wheels are you using?
Are you in high or low gear?
It sounds like there is just too much load on the motors. If you reduce inefficiencies in your drivetrain (Note: grease your gears) and use smaller diameter wheels you can greatly reduce the torque load on your motor at any given time.
This will cause it to accelerate better, and draw less current.
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In the interest of full disclosure: I work for VEX Robotics a subsidiary of Innovation First International (IFI) Crown Supplier & Proud Supporter of FIRST
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