Ian, if your motors stall when your robot drives into the wall then something is VERY wrong ! You should be able to wheelspin.

What I suspect is happenning is that your batteries simply cant supply the current that your motors are asking. So yes they are drawing a maximum of 30 amps, but thats not the stall current of your motors, its that the batteries are limiting the performance of your robot as they cant supply enough current to do the business.

..... trust me Ian - I might *just* know what Im talking about.

Ed
http://www.stormrobot.comhttp://www.stormrobot.com