[Greg McKaskle]

Do you have encoders with speed or position control running? If there is slack in the drivetrain, the control algorithm has trouble making small adjustments because of the lag between its input and a response of the encoder.

A possibly related odd thing I saw yesterday on a robot was a frame short that caused 6V drop, a breaker trip, and then it would repeat at about 3Hz even when the joysticks were centered. They kept working on the isolation of the motor output wires from the frame and also changed out the Digital Breakout and the issue went away, but I still don't entirely understand what was restarting the cycle.

When it is glitching do you have any diagnostic messages, any large voltage drops, any other symptoms that occur at the same time/rate?

Greg McKaskle