[Al Skierkiewicz]

Leeland,
Adding a second CIM would help with sharing the load. The flashing LED on the Jag is the fault LED. It can be caused by a few items like over temp and under voltage as well as over current. Start by tipping the robot to one side and without power turned on see if you can easily rotate the wheels on one side and then the other. High friction would show up in this test. It is also possible that once you have the weight of the robot on one or more of the wheels, high friction results due to wheel bearing misalignment or failure.
I already described the over current condition. The under voltage condition can be caused by loose wire connections, bad crimp terminals or loose hardware on the main breaker, battery, or PD terminals. Generally, those last few would also show up as radio or Crio resets. In programming you can try adjusting motor speeds to a lower value to minimize over current.