My team has a holonomic drive and about 30 seconds into driving the whole drive train freezes up. We have an exact replica of this robot which seems to be working fine. We tested code but it is not a code issue. The motors are not hot to the touch after these 30 seconds. What could be going wrong?
Thank you.
When the drivetrain “freezes”, does you eventually regain control of it? (After 20-30 seconds or so?) Or does it stop you can’t control it again until you refresh the power on the Cortex?
~Jordan
We dont ever lose control… I guess freeze is the wrong word it is almost that the drive train is the only thing that freezes. If we wait a little while the drive train “loosens” soon to be able to be used for another 30 seconds or so
My guess is that you have 4" wheels geared at 1:2 or more and/or that you have a lot of friction in your drivetrain. Or both.
or maybe the axles arent double supported
To answer all questions we have a direct drive with omni wheels and our axles are double supported; 2 of the wheels cantilevered but still double supported
they are 
direct drive with omni wheels 2 wheels are s are cantilevered but still double supported
Could you tell us a little more about your robot? Weight? Gear ratio? Wheel size? It helps so we can determine the problem… Even though the problem seems to be the motors tripping the breakers, which means you are pushing them too hard, be it friction somewhere or your gear ratio is just too high for the weight of your robot.
~Jordan
Pictures help, too… 
What motors are you using? (3-wire, 393 torque, 393 speed, 269) I just ran into a similar problem when I switched the two 3-wire motors that drive our with 393 (speed) motors. The robot would drive for a while, but then slow to a stop. The motors were not hot. After resting for a while, it could drive again. (Odd thing is, it ran fine with 3-wires…) I’ll update what happens when I change the gearing to 393 torque.
or maybe you have too much “spacers” on the axle that cause friction
that happened to us last year and i was so mad that we blew the SAME motor THREE times because of some dumb washer on the drive axle that was less than 1/16" thick -.-
no gears for a gear ratio…
wheel size: 4 inch omni
spacers: we are pretty sure that we are not causing extra friction
the photo is of one of our front wheels
it is a two wire
the difference between our two robots is the functioning one does have 3 wire motors while our new robot has 2 wire motors
The encoder doesn’t really add that much support, so that actually is a pretty large cantilevered load on the shaft.