[bardd]

I never got to use the Talon SR, but your problem sounds like a faulty wiring problem, check for shorts (both in the power cords and information cords [=PWM]), make sure your PWMs are all in the correct places and aren't flipped over (it shouldn't cause your problem but won't hurt to check anyway), make sure there aren't any jumpers next to your PWMs in the DSC.

Also, I know very little about programming so I can't explain this, but in 2012 our robot moved without command once when it was enabled, and our programmer said something about dividing in 0. Dunno where or why it made that happen.