[BigJ]

Judging from the reach of things you've tried I'm assuming you've done these, but just in case you haven't: try switching batteries, and a quick cRIO reimage couldn't hurt. Are you noticing any weird behaviors on the dashboard (perhaps the Robot Code light flashing red for a split second sometimes? This happened to us once this season (after having the cRIO on for a few minutes) and would make the robot do strange things, but a reimage cleared it up.