[Al Skierkiewicz]

OK, once again for effect, six motor drives are likely to trip the main breaker. Every report I have received of repeated trips of the main breaker were on six motor drives. Yes they are cool and yes they may achieve your design criteria but they come at a cost. Do you want to go fast or play an entire match? When the #6 wire is hot, that is your robot telling you something is wrong. Listen to it. To address some things from previous posts. Yes the breaker is a thermal device so when the wire heats up, some of that heat is conducted to the breaker and that adversely affects the trip point. Once cool, it returns to normal operation. A trip uses the same procedure as the red button on top of the breaker, so it is not a requirement to change out a breaker once it trips. Otherwise you would have to change it out every time you use it. Use ramping software will help quite a bit but will do nothing in a pushing match. Your results will vary with the type and number of wheels you have on the ground and how much you turn during a match. Add to this the fact that FRC robots are already drawing excessive currents that shorten battery life. If you are drawing currents that trip the breaker, consider that your battery life is cut by more than half. Do not be surprised when a battery suddenly appears to be discharged when you are on the field.