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I'm sure FIRST won't hold you to only keeping 2 batteries at all times, that would be impossible.
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We did quite well with only two batteries last year. Our bot would last for like an hour and a half just sitting there running and being driven for 1-2 minute periods every five minutes or so (for programming). Of course we only had two wheel drive, and after that our battery would be totally dead. In competition we were able to keep all (by which I mean both) of our batteries pretty near fully charged the whole time.