FTC teams need to remember that the Samantha module is a high priority on electrical wiring. It should be the first thing in line following the power switch. While this is not a rule yet, (it should be) this is one of the main reasons teams disconnect on a regular basis. The trend is to wire the Samantha at the last motor controller. Doing this essentially guarantees a Samantha module brownout. The FTC Robot Wiring Guide (p.18 and has a few examples of Anderson power distribution devices. I highly recommend the use of one of these. Although I am partial to the West Mountain Radio products any of them work well. Use one of the outputs to feed the Samantha module.
Checkout other options at
http://www.powerwerx.com/powerpole-power-distribution/
You can obtain these at other outlets if you search
In addition to that, while also not a rule, make it your team's wiring rule to use #16 for all power wiring. From the power switch to all motor and servo controllers. This will insure that you get the power needed to satisfy your motion calculations. Smaller wire will obviously drop more voltage and that will reduce the amount of power available for your motors.