[JamesCH95]

I think that a brown-out and re-set of the cRIO is a very likely drivetrain induced failure. Not just the breakers blowing. I don't know which one, 6cim or 4cim, would be more likely to trigger a brown-out, though I think a brown-out or low-voltage reset is much more likely than blowing a main breaker.

Full disclosure: I have not a lot of experience blowing 40A breakers, or main breakers for that matter. I've always geared transmissions on robots a little conservatively, prioritizing robustness over ultimate performance. One robot team 95 made had issues with that, a full 4-wheel swerve in 2003, that could drain a battery down to the point of brown-out half-way through a match.