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RobotDrive enables MotorSafety automatically.
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Ah your right! Right in RobotDrive::InitRobotDrive().
ericomoura, maybe called RobotDrive::SetSafetyEnabled(false) to see if it affects the robot behavior (only if your NOT leveraging breakpoint-style-debugging). If motor-safety is a red-herring, at least it will remove the DS symptom. But you have a debugger attached, never mind, it's important the motors stop when your breakpoints hit!