[FTC]: AndyMark Motor Stall Current

[ItsTebowTime]

Greetings: my team is currently having a problem in autonomous with our robot power levels. Directly after we raise and lower our lift, the bot drops power significantly and drives incredibly slow for a few seconds before regaining speed several seconds later.

We think we've narrowed it down to one of two things:
1. AndyMark motors on the lift or
2. Thin wire for our battery circuit.

Based on this useful document from Cougar Robotics http://www.cougarrobot.com/attachmen...C_Motor_V2.pdf, the TETRIX V2 motors have a stall current of 1.37 amps, whereas the AndyMark motors that we're using for the lift have a whopping 11.5 amps http://www.cougarrobot.com/attachmen...NeveRest40.PDF. Give that we're using 2 AndyMark motors for the lift and 4 on the drive train, does this seem like it could be the issue/should we switch the lift to TETRIX motors?

The other possible problem we noticed was our wire gauge that gives the motor boxes power is 20 gauge (same as DC motor wire) instead of something thicker like 16 or 18 gauge.

We're currently leaning towards the AndyMark motors as the source of our problem, but we'd just like some input on what might be the problem/how we could fix it before we make any major changes to our bot. Thanks so much for any suggestions!