[Kevin Sevcik]

Originally Posted by darkspade

I guess that we're fairly sure we've ruled out motor safety issues, but we simplified some of the programming to test tomorrow.

Motor Safety is absolutely what you're going to see if you have "complex" code that's bogging down the roboRIO. The Motor Safety helper objects are like watchdogs for each motor controller. If you're not sending a command value often enough to a controller, you'll get a motor safety error and the controller will be disabled till you set it again.