[daneelshof]

I see that you are using the Jaguars for the main drive wheels. Someone pointed out that the Jaguar's overcurrent protection kicks in at 100 Amps whereas the stall current for the CIM motors is 115 Amps. Have you had any problems with the protection kicking in? I'm guessing that is would be somewhat of a non-problem, but the person who told me about this issue did a lot of the documentation work for FIRST and suggested using the Victors for the CIM motors, although our team has burnt out about 10 Victors over three years with overcurrent (i.e. pushing the robot on the floor while disabled/off instead of picking it up to move it)