[joelg236]

Sounds like a code thing. You're probably running a loop somewhere under a certain condition. Usually you wouldn't see anything close to 100% from normal usage.

The fact that your drivetrain becomes unresponsive but continues to drive could mean 1 of 2 things. One is that something else loops and takes all processing, without updating the drivetrain voltage (this is less likely - motor safety would need to be off). The other is that something in your code (PID?) is looping, and setting your drivetrain a certain speed for that period of time, without letting anything else continue to run. Is one of your triggered commands running something on the drivetrain?

Let me know if that makes sense, I could take a look at the code if it's Java too.