According to my drive captain, if the battery voltage drops below 12 while the robot is working, the robot should continue to work fine. If the battery is less than 12 before a match, that is when you should start thinking about charging your battery.
However, it may not be a battery problem, as our team has experienced random communication losses where the robot "controlled" itself for half or a whole match, and we were also unable to replicate the error while tethered.
Fortunately, we never lost communication again. I suggest examining your PWM or CAN cables, as they may have become loose during a match. If you cannot find the problem, I suggest crossing your fingers and hoping it never shows up again
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