[Alan Anderson]

Disabling the Motor Safety on the Drive motors might actually be an appropriate solution, but only in a very limited set of situations. It's theoretically possible for the robot code to be right at the edge of overtaxing the CPU, and a rare event could cause the safety timeout to throw an error...which uses more processing, which tips the system into a constant cycle of CPU overload and motor safety timeouts and errors eventually leading to watchdog timeouts and a disabled robot. With the safety disabled, there might be an occasional couple hundred milliseconds where the drive motors won't respond to a joystick change, but the robot won't get disabled because of it.

I'd still want to find the underlying reason for having so much CPU usage in the first place.