Al,
First of all, no, we will not be at the Midwest regional, although we will be at the nationals (and by that time we will have competed in the Canadian Regional, during which we might discover something else). I confess that I don't know which motors were tripping the 30 amp breakers; in the heat of competition, we believed that it was better to make a drastic change (taking out two motors) that would definitely solve the problem than to take our time investigating and fine-tuning individual breakers and speed controllers. The latter seemed to be, as we say, "building to tolerance". Actually, I couldn't confidently say that the breakers were tripping at all; we never really got conclusive evidence of it, so we may very well have been grasping at straws.
I don't believe our controller lost power, because I never remember the light turning off temporarily (I have seen the controller shut off during practice back in Canada, usually when our battery was running low, so I think I would have recognized it if it happened in competition).
-Ian Mackenzie
Team 188
Woburn Robotics