We avoided CAN for tradition I guess
We may switch to it if for no other reason than to keep PWM's from falling out. It is more versatile we just overlooked it in this tough year.
We're making some headway. We completely disconnected the drive Jags and it functioned fine. Then connected one side at a time and it functioned fine. When we connected everything, same issues. The Jags are going into fault mode, but it is interesting; one going in to fault mode appears to chain reaction them sometimes, other times not. It could be the calibration. This might explain why the problem is more prevalent in autonomous where full ahead commands aren't subject to human input.
The problem is limited to the Jags or to the power distribution board.
Faults are caused by over-current or under voltage. I doubt we're drawing much current in low gear up on blocks. We see the voltage jump all over the place but haven't had issues in the past (sometimes driving with the compressor running and other motors running you will see the voltage drop to 8 or below).
Maybe there's a bad Jag in the mix somewhere. I'll post some more findings tomorrow.