[KrazyCarl92]

Here's what we have already tried and some additional info:
We tried turning the robot off and back on. Sometimes this fixed it, other times it didn't, and the problem would intermittently come back after varying amounts of time.
All 3 lights on the digital side car are on.
The observed effect is that the robot is commanded to move forward (and only forward) and it starts out doing so, then pulses a turn to the left, then continues on its way forward.
This happens only when the talon is commanded to go in the green direction. It does not occur in the red direction (or we have yet to observe it).
All 4 of the talons are in coast mode.