@MysticalDork @ahrav my understanding is what you just said isn’t actually the case
the battery current limit is per wheel and the motor current is as well.
if you put in 30a battery limit, and you have 2 motors, 60a can be drawn from the battery.
you can safely put a higher motor limit than the battery limit, and this won’t cause the battery limit to be exceeded, but it will increase the torque at lower speeds. (constant motor current draws a different battery current at every speed, and it takes less battery current to supply the same motor current at lower speeds than higher speeds)
here’s an example:
^blue line is the motor current and black line is the battery current… it can be seen that it takes less battery current to supply the same motor current at lower speeds and torque is directly proportionally to the motor current… no load speed is where the red line crosses above the yellow line.