Experience With 6 Cim Drive train

[cbale2000]

We used 6-CIM ball shifters (with 2 CIMS and 1 MiniCIM each) on our robot this year. We had no problems with breakers when driving in low gear. There was one occasion that the main breaker was tripped during a hard collision in high gear that could have been attributed to a current spike (or just the force of the collision, we're not sure), but beyond that we had no issues that I'm aware of.

I'm hoping the current monitoring capabilities of the new PD board next year will make it really easy to manage current draw and maybe even allow us to program automatic down-shifting when current draw gets too high.