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Re: cRIO not communicating with robot and robot is running random code!
It's most likely a wiring issue. The cRIO, if properly imaged, will not activate any outputs (except the RSL) when the robot is disabled.
What parts of your robot are moving in disabled mode?
Is everything wired correctly? Some motor controllers will output power all the time if they're wired backwards. This can damage them, so don't turn your robot on until you've given your wiring a good thorough look over.
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