[Greg McKaskle]

I agree with what others have said. I suspect that the log file will show frequent drop and recover of the battery voltage. The drop is due to large draw by the motors at stall. The recovery is because the cRIO FPGA cuts the outputs in order to avoid reboots by critical systems such as the radio and cRIO.

Verify that the battery is good, verify it is fully charged, and see what the voltage drop is when you initiate a turn. If it isn't hard, swap the wheels or place new ones on the center. I can't see much on the robot, but I assume it has dropped center wheels.

Greg McKaskle