[ozrien]

So when you power boot (like in the *_06_11_Sun capture), does it hold CPU +90 % indefinitely? Or does it eventually settle? It sounds like you watched it for 20min. Does it do this everytime? (I can't seem to reproduce it).

Robot setup looks like a bunch of PWMs, a few encoders, PDP on CAN bus (no other CAN devices), and four joysticks (Logitech Attack 3,Logitech Attack 3,Gamepad F310 (Controller),Logitech Dual Action) on the DS right?