[Al Skierkiewicz]

Just thought of something for you as well. Motor current is proportional to motor load so make sure that the wheels on your cart and the transmission you use put the motor into a range on the motor curve it likes. I wish I had a dollar for every design I have seen that operated fine until you put it on the floor and tried to drive. The weight of the robot pushes down on the axles and without proper bearings that translates to very high motor current.