I don't think the CIMS alone could draw THAT much though. Last saturday we we're running our bot' around the warehouse and we had a draw of about 3v when at full speed, and when we reversed from full to back full there was an increase of .5 or so.
BUT, I as a programmer have implemented a "rampPWMs" program which "ramps" the output to the motor. If your team's programmers havent written a program they should. It should help a little bit. If you want to know how to do that I'll show you what I did.
