[slijin]

It sounds more like an engineering problem to me. Your CIMs are likely tripping the Jaguars' over current switches and causing them to shut off. Most teams have 4-CIM drivetrains precisely because it's difficult for 2 to continuously output enough power at 40A to drive the robot. You'll need to either 1) reduce the power needed to drive your robot or 2) add power to the drivetrain

Observe and describe the action of the Jaguars' LEDs to confirm; they should turn to slowly blinking red when the Jaguars "reset".