[Greg McKaskle]

Some questions, maybe some answers.

The symptoms indicate there are communications from the DS to the robot.

Is the dlink buried or too near motors and causing many different forms of communications dropouts?

Since you are sometimes getting packets without voltage info -- indicating the Communication thread hasn't heard from the code and thinks none is running -- it is somewhat more likely that the CPU is highly loaded, and perhaps you have a number of higher priority threads that are starving the Communication thread to some degree. I think this would cause all of the symptoms you describe except ...

What you you mean by enables itself?

Does the DS display magically flip from Disabled to Enabled tele or auto?

Does the robot flinch?

What I/O isn't being disabled?

What language was being used?

Greg McKaskle