Wire gauge vs. current

[AdamHeard]

this isn't for FIRST robotics, so I can't just look at the wire guide there and see what is required.

It's for a 3lb robot with a strict weight limit, so I want to use the smallest possible gauge I can without trying to pull more current when all the motors are at stall than the wire can handle.

My battery is two 7.4V Lipoly with 1.0 Ah and a discharge rate of 20-30 C.

The sum of the stall torques of the three motors is 27 Amps.

So, what gauge should I use for the initial wiring? And how do I determine what to use for the smaller loads within the robot.....

I've looked at charts online, but they seem way off based on what I've seen in FIRST and the fact that each battery has 14 AWG wire on it already.