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Originally Posted by scitobor 617
When we started testing our motors we noticed that whenever we tried to turn a fuse would blow for one of the motors in the gearbox on the left side of our robot and the right side would begin to struggle. This happend wether the robot was on the ground not. We decided that we should isolate the problem by testing one side of the robot at a time, so we pulled out the fuses for the gearbox on the left side. When we drove the motors on right side we noticed that the cooling fan on the Victor of the motor that had been blowing fuses began to spin, and the Victor's LED came on. This seemed very odd because the cooling fan only came on when we drove the rightside motors
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Voodoo diagnostics is a tricky business, but I think I have a theory that fits your facts.
I assume your software is controlling two motors with a "right side" pwm signal, and the other two with a "left side" pwm signal. If you have one left side motor being controlled properly but the other one controlled with the right side signal, they will oppose one another when you try to turn, and you will trip a breaker if you're lucky. Same with the right side, though it sounds like you've never gotten it upset enough to actually trip a breaker, instead just having a motor being backdriven against its will.
If you remove the fuse for the wrong-sided motor, that motor will be turned by the other one on the same gearbox, and you'll end up with the Victor getting powered by the generated current.
You can either 1) disconnect all your motors and watch the lights on the Victors as you go from neutral to full throttle to full turn, and see which ones respond; or 2) double-check the code, the pwm cables, and the motor wires to make sure they all agree.
Since you insist your wiring is correct, your software is at fault, but it'll probably be easier to correct the problem by changing which pwm outputs your Victors are plugged into.