Jaguar issues, possibly CAN?
We were test driving our robot, which uses 4 jaguars on CAN (two of which control the drive motors). After about 20 seconds of driving, one of them would slow down and then stop working altogether. When we tested the drive on PWM (jaguars just wired to digital modules) it worked reliably.
We had a similar problem at the Kansas City regional last year, so we switched all but one of the jaguars back then to PWM. Have the problems with the CAN last year been fixed in the new jag software?