[drakesword]

Had a simular issue this weekend but with CAN

One jag would quit responding. Figured it was just a programming glitch (yes I am a programmer I blamed myself)

reset the robot and it worked again.

problem came up occasionally again within the next 20 minutes.

Finally two jags went down at the same time. I was called back in and heard the PDB squalling (which happens when the battery starts getting low)

Replaced the battery and didn't have any more issues.

Just FYI the robot was run for a good 45 minuets total which I found amazing for it still working ... mostly.