[mathking]

Isiah, it might well be that the configuration of your wheels along with the pneumatic tires is causing the robot to draw a lot of current when it tries to turn. We have had this problem a few times in the past (our initial configuration in 2014 springs to mind). One suggesting is to check the inflation on your tires. We are using six pneumatic wheels with a drop center configuration. At the PAST Foundation practice session we tried running them at lower pressure so the robot would not bounce as much over defenses. That made the robot have to work a lot harder in order to turn. Have you checked how hot the motors are after driving? If they get really hot it is a good indication of a potential problem. You can try fans or CIM coolers.

That said, if you are driving for ten minutes on one battery you are probably going to be OK for a 2:15 match. My advice from past experience is to bring a few extra batteries with you to competition, because if you are draining them a lot in a match it will take longer to power them back up. I believe you are going to the Greater Pittsburgh Regional if I am not mistaken. 128 has been around a long time, so you probably have plenty of batteries. But if you needed to borrow any extras we (1014) would be happy to lend you a few since we don't have a competition that weekend. (We also have some extra CIM coolers if you want them.)