[rbrem]

The kids will post the code later today when they get to school. They were practicing driving, running the bot hard, when it stopped and wouldn't restart, so we suspected a burned out motor (CIM) or Jag. After determining with a simple test prgm that each Jag (using PWM)/motor worked individually, we tried building up a simple drive program using the IterativeRobot project. We are using a mecanum drive, so the prgm defines 2 Joysticks and 4 Jags (ie, Jaguar LFmotor = new Jaguar(1,1); and repeat for ports 2-4. We pasted code from the competition prgm to calc speed outputs for each motor, limited +/- 1.0, and simply call LFmotor.set( speed ) for each Jag inside the teleopPeriodic() method. With this code the bot runs fine. When the prgm is started, the Jags flash yellow while disabled and go solid yellow when enabled. If we simply add a 5th motor (ie, Jaguar shooterMotor = new Jaguar(1,5); ), without even further referencing the object elsewhere in the code, then after we enable, the Jags continue to flash yellow. We know that the teleopPeriodic function is being called. We have tried various combinations of our 7 Jag PWM ports and the results are always the same; works with four jags, not with 5+. Calling Jaguar isAlive() method returns true, even when the Jags don't see the signal. We tried Watchdog.feed(), even though we don't explicitly enable safety. We tried swapping the 9403 digital i/o module, and ribbon cable, no change. We will try swapping the DSC tonight. This has got us stumped. Thank you all for any suggestions you might be able to offer.