[plnyyanks]

Are you using black or grey jags? Last year, when using grey ones, when we would try to abruptly change directions, the jaguar would overcurrent and go into a fault condition. After a little while does the jaguar reset and go back to working?
We fixed this by putting a limit on how fast the robot could accelerate in code. It worked (or you could switch to black jaguars, which didn't do this)