[Stephen.Yanczura]

On our practice bot we drove the robot up to a cement wall and had a mentor apply his weight to the top of the bot upping the traction big time. I had the driver lay on the stick full power into the wall effectively stalling all six CIMs at 100%. Fresh battery, new CIM motors, talon motor controllers.

The main tripped in ~8 seconds and for each successive test it tripped sooner and sooner, I stopped after it was tripping in ~5 seconds.

We are geared 5.95:1 in the box and 1:1 (belts) to the 4" HiGrip wheels. (I did some speed tests using encoder logs and we were seeing 12-13ft/sec max robot speed on slightly worn wheels).

We never tripped a main breaker during a match on the competition bot and to my knowledge never tripped a breaker during an estimated 200 hours of driving the practice bot (same breaker I tortured above).



YMMV