[Al Skierkiewicz]

I know of several teams that have tripped their main breaker with six CIM drive trains in addition to other motors. If you don't monitor current at some point in your design and build phase, this will turn out to be a risky choice. Drawing 120 amps continuous for 2 minutes will not only draw the battery down, it will at a minimum shorten it's life and likely will cause some internal damage. Even to assume that the Amp Hour rating will be derated by 40% by the higher draw leaves you potentially, with just a few minutes before the terminal voltage falls below the critical 5.5 volts when the DSC stops working or the 4.5 volts when the cRio power supply goes away.