[cjl2625]

Earlier in the season, we built a really rough prototype shooter, and it was going on and off when we tried running it at full speed. I checked the current readings on the CIM, and they were upwards of 50 amps when running at constant speed. The assembly was put together rather poorly, and it put a lot of strain on the motor, leading to these crazy high currents. I think the cycling problem was something on the roborio periodically cutting power to the motor to prevent the high current.

Maybe you're facing a different issue, but perhaps you could try checking the current readings from the PDP, or remove the motor from the shooter and see if the speed still fluctuates.