[nighterfighter]

Personally, I don't think the batteries are the cause of the twitchy motors, mainly because they are twitching even when the code is set to give them a value of 0. That leads me to think there is either a short in the PWM wires, causing it to send a false signal to the Talon, or the roboRIO is malfunctioning.

That being said, having loose connections aren't good. And the voltage drop isn't "good", but 9 volts won't shutdown everything.

hwu24110: Could you take a video of the motors twitching, with the joysticks unplugged and the code having the motors set to 0? If you could also get the video of the Talons that would be helpful.