[Al Skierkiewicz]

Everyone,
The electrical rules are written to coordinate breaker size to wire size only. The breakers are sized to protect the wiring and nothing else. If you put #18 wire with a 40 amp breaker and something shorts, then the wire will set itself on fire. 40 amp breakers get #12 or larger, 30 amp breakers get #14 or larger and 20 amp breakers get #18 or larger.
You can run a 20 amp breaker for a CIM motor if you so choose. Both the Jaguar and Victor can handle currents in excess of the stall current of the CIM motors. The circuit breakers used on FRC robots have trip characteristics that allow currents in excess of 600% of the trip point for a few seconds. Yes, that is 240 amps for a 40 amp breaker.
Although the rules allow it, I can't see any reason why you would want to run any motor except the CIM or Fisher Price motors with a 40 amp breaker. For a maximum motor count of 5 CIM and 2 FP, that is only 7 40 amp breakers.