[rich2202]

How is the wiring on the CAN bus? Is it serial from the RoboRio to the PDP, with the PDP termination set? In other words, no Star formation and proper termination?

Did you check the firmware version of all your CAN devices?

Find the first motor controller in the series (from the RoboRio) that is causing you problems. Temporarily rewire so that one is farther along the chain. Does that make any difference? If so, you might have a bad controller or flaky wire.

> and whether it is a programming or electronics problem

Q: How many Programmers does it take to change a light bulb?
A: None. It is a hardware problem.
Q: How many Mechanical people does it take to change a light bulb?
A: None. They think it is a software problem.

I am guessing this one is a hardware problem. Software tends to fail in predicable ways. It either works, or it doesn't. Flaky hardware is more likely the cause of random problems.

Try this test:

1) Put the robot on blocks (so it doesn't move)
2) Write some code to feed the drive motors at 50% for the entire teleop period.
3) Wait 2 minutes.

Repeat 3 times the run/wait cycle 3 times.

Do the motors quit? If so, it is a hardware problem.