The messages you post are not all that unusual. I can help interpret some of it.
Quote:
Warning <Code> 44006 occurred at Driver Station
<time>10/9/2013 5:43:38 PM<unique#>1
FRC: Custom I/O is not enabled or is not connected to the driver station.
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This means that calls to read and control the Cypress I/O board failed. This often isn't an issue, but if you expected it to work, the message helps verify that there was an issue.
Quote:
ERROR <Code> -44009 occurred at Driver Station
<time>10/9/2013 5:43:38 PM<unique#>2
FRC: A joystick was disconnected while the robot was enabled.
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This means what it says. While the robot was enabled, a joystick was disconnected or stopped working. If you didn't physically disconnect it, this message indicates that power management, static electricity, or cabling is causing you to lose the joysticks.
Quote:
WARNING <Code> 44007 occurred at FRC_NetworkCommunications <secondsSinceReboot> 104.262
Warning <Code> 44001 occurred at No Change to Network Configuration: "Ethernet"<noNICConfig>
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Messages like this are normal and tell us how long the cRIO had been up before it was connected to the DS and that the DS didn't need to change the network config for "Ethernet".
Quote:
WARNING <Code> 44008 occurred at FRC_NetworkCommunications <radioLostEvents> 102.504 <radioSeenEvents>
FRC: Robot radio detection times.
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This one indicates that the radio was rebooted and some details that matter sometimes.
Quote:
Warning <Code> 44002 occurred at Ping Results: link-GOOD, DS radio(.4)-bad, robot radio(.1)-bad, cRIO(.2)-GOOD, FMS-bad Driver Station
<time>10/9/2013 5:44:05 PM<unique#>4
FRC: Driver Station ping status has changed.
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This message is produced anytime that a ping to a device changes.
The better way to look at this info is in the DS Log file viewer. It condenses these messages and filters them. It also places them on a time line along with CPU and voltage levels and helps identify many more issues.
As for what is wrong with the robot, it doesn't seem to be a communications issue. It seems to be enabled at one point, but the code and/or electrical isn't doing what it should. Since it sounds like you made significant changes to the code -- even simplifications count as changes -- I'd start there. Use the Charts tab to see how the code is running. Add print statements to see what code is running, etc.
To debug the gyro, you should probably break it down. If you were using LabVIEW, I'd suggest you run the example project for the gyro on your cRIO. If it works, use it as a template to compare against. If it also doesn't work, look at the wiring, the sensor, etc. I assume you have similar examples in C++.
Greg McKaskle