[gpetilli]

I should have specified. We are planning RS775-18 with a 20:1 ratio (plus the added torque from the 6:1 MiniCIM).

Since there is enough torque to overcome the CoF (1.2) of our wheels, the motors never stall and the current per motor is 45A when pushing a wall (with the wheels slipping on the carpet). It is hard to find dynamic CoF for FRC wheels. The only one I did find was 85% of the static CoF so that percentage is what I have been using as an estimate.

BTW: you have a similar issue with full size CIMs - if you ever let them stall you draw too much current and pop breakers. You simply have to design to slip the wheels.