[asid61]

To all teams running six or more cims on their bot and say that they have zero breaker issues, what speeds were you running?
Because there are only miniscule gains from running six cims on anything under 15 fps according to my drivetrain calculator. Maybe a few extra inches out of ten feet if you go from four to six cims.
Why do you run such low speeds on six cims?

On freezing the breaker, I don't really like it if it's before a match. After a match, okay. But before a match I feel like it defeats some of the purpose of having a main breaker. If it is to limit power, then why are you allowed to give yourself more power like that?

To asnwer OP's question:
Current sensing. Autoshift to low gear when you hit a certain amount of current for an extended period of time.