I've been trying to design my own drivetrain, and based my math on
this tutorial. I designed for 30 amps, and the result was pathetic: the robot could only go at around 5ft/s, and could barely push a baby if it tried real hard. I tried messing with the current, bringing it as close to 40amps as I dared, but the results weren't any better.
I was sure I did something wrong, so I did the same math on 2013's KitBot. The result showed each motor will draw 141 amps. Being sure I was wrong again, I used JVN's calculator, which said exactly the same. Even with two motors per gearbox, twice what was supplied in the KOP, each motor would draw 72 or so amps.
My question is, how is this possible? CIM motors are always connected to a 40amp fuse, so how doesn't it break when the robot tries to move? How does any KOP bot ever move without breaking anyway? There has to be something I'm missing here, since I saw hundreds of fully-functioning and certainly-moving KitBots, including our own. Also, how is it possible the standard, unaltered KitBot has every motor draw 141amps when a CIM's stall current is 133amps?
I narrowed it down to some jaguar/victor magic, since every other aspect of the system, as far as I understand it, can't cause this, while I don't really know how a motor controller works.
More than wanting to satisfy my curiosity, I would also like hearing how I should factor whatever it is into a design (of anything, not necessarily my drive).
Thanks in advance.
(tl;dr KitBot has a weird current quirk where the motors draw so much current that it should make the fuses on the PDB break/jump, but they never do. Why?)