[Munchskull]

Going into my fifth and final year of FRC I am looking to push my team into new and unfamiliar areas. For me that starts with a strong drive train. These last few years my team has been usings and exploring custom gearboxes but every one has had 4 cims. This year game permitting I hope to have 6 cims.

While using JVN calc for speeds I am unnerved by what each motor is drawing at stall, 60-80amps each. Easily enough to blow the main breaker if held for more than a moment.

We use Victor SP motor controllers for the drive train, can we implement current control to prevent this? Also for the none programmer I am could the pseudo code be explained?

Also can anyone explain to me the exact correlation between high current draw and voltage drop?