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Originally Posted by Xeilos
Are there any solutions to this drop off/inertia problem (the flywheel mass is heavy enough and when we used a fully charged battery, the drop off was less but still greater than before)? Also why is it doing this>
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You are running into a problem all of us will face this year. Some of your wheel is giving energy to the ball. In general terms you may need to rethink the design as you shoot more balls and the battery voltage gets lower during the match, this problem will get worse. You may want to design for a lower power setting to achieve the correct trajectory and then be able to bump it up as the battery voltage sags.
As to the original problem with the FP, current draw on those motor can be significantly higher than 20 amps with a stall current twice that amount. Breaker choice and wire size won't modify those numbers. Hence the rule where you must use a speed controller for this motor. All things being equal, with a speed controller and 20 amp breaker you will likely trip the breaker as well.