OK, well here is the deal. We are planning to use 4 CIM's to drive the robot using the gearbox that FIRST supplied us, and 1 motor, probably a window motor to raise a pulley system. To move our main arm, we have 2 designs:
1.) Use a series of pistons that has the ability to raise the arm to various different levels.
2.) Use motors (Probably 2 Taigene motors) to raise the main arm.
We have ran into some road blocks with the pneumatic approach, and I personally would like to go with the motors to raise the arm. But, here is my biggest concern. Let's say we are just plain moving around, lifting the main arm, and using the pulley system, will the main 120A breaker pop? Has any team successfully used 7
motors running at the same time to operate their robots? If so, did you ever experience this problem, or any other problems for that matter.
PS: Do the Taigene motors back drive if you apply 100 ft-lbs of torque to them? I have to test that out one of these days.
Thanks for your time =)
...remember, this is coming from someone that spent the better part of an afternoon playing with an omniwheel--not assembling, not disassembling, just playing. - Billfred [more] 
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