[roknjohn]

Most robots, especially those without casters, perform VERY differently on carpet. Motor currents are much higher during turns, causing problems with breaker tripping and current limiting software algorythms.

Take this scenario, a 4 wheel tractor steer robot tries to turn. Without good slippage, one motor stalls causing the breaker to trip. The other motor tries to go it alone, but can't, so it trips. The driver fails to recognize whats happening so he still there with the stick fully deflected. Now, the breakers aren't going to reset at the exact same time. One resets, it trys to go it alone, then trips again. Then, the same happens for the other motor. You get the picture?

The same thing can happen in a shoving match, or just by running into something.

ALWAYS TEST YOUR ROBOT ON CARPET. If you dont have carpet, check with the field manager at your next regional event. They usually give the carpet away after the event, if a team will stick around to help dismantle the field. It helps to make arrangements for that before the event.