[RoboChair]

Back when we used the cRio, this was more viable. Now that we have the RoboRio you need to exercise much greater care to prevent costly brown-outs. You NEED current sensing in your code for this to be worth it, and probably some form of auto-shifting to get the best use out of your power available. When we did 6 CIM in 2014 all we had to worry about was popping the breaker. We would not do another 6 CIM with the RoboRio without a lot of thought about how to implement it well.