[ozrien]

There have been many threads on CD about motor safety tripping. The biggest culprit I've seen seems to be not "setting" motors in all loops (auton/disable/teleop) so when you transition it seems to cause the motor-safety to expire.

But even after making that change, my bot trips the motor-safety once in a while, so I ended up just turning it off.

Do you need the motor-safety features? Generally it is only helpful when source-level debugging/breaking-pointing. If you are just deploying code, there really is no advantage to it.