[Oblarg]

Well, swapping out the dead CIM unfortunately did not fix the issue; we were plagued by main breaker trips for all of our matches today.

After our last match, we went out to the practice field and tested a few things; during this time, I noticed that with a perfectly topped-up battery and no compressor running, we'd slip the wheels while pushing (as intended) and only draw 180 amps, which isn't a problem; this caused no heating of the wires and no breaker trip.

If the battery was slightly low and/or the compressor was running, we'd be unable to slip the wheels and our CIMs would stall, drawing 250 amps and causing massive heating and an eventual main breaker trip.

I'd imagine the problems we're having now, as opposed to at Greater DC, are due to an amalgam of factors; due to our robot's mechanisms being in a state of semi-operability, we weren't running our compressor during matches at DC. Moreover, our robot has gained ~6 lbs since then, and our gearboxes (they're WCP 3CIM SS gearboxes, so they're open) have been steadily accruing a layer of carpet fluff mixed in with the grease (we didn't have time to fully clean them out between matches).

It seems with our gearing/wheel COF/weight we're right at the boundary of what's operable. Does anyone have any advice (other than ditching a bunch of weight and cleaning out the gearboxes) for ensuring we're not tripping our breaker at worlds?