[nighterfighter]

No Robot Code definitely means that something code wise is broken.

it might be a deploy setting. Someone more versed with LabVIEW will have to help with that part. When you imaged the roboRIO, was the little checkbox for "run code at startup" (or something similar to that name) checked?

It also sounds like you might have 2 separate problems. The robot code crashing is one, and the losing comms for long periods of time is the other. Losing comms sounds like a wiring/power issue.

Try performing a "tap test" on the main breaker. With the robot powered on, tap on the red button on the breaker (not hard enough to fully press it down though). If your lights on the electronics flicker, the main breaker needs to be replaced.

If both your drive train and catapult drop you to 9V separately, trying to run both at the same time will most likely cause a brownout. Your drive train should not drop you to 9V. What is your drive train (wheels, treads, etc) and how is it geared? How many motors per gearbox? (If more than 1, make sure they aren't fighting each other in the same gearbox)
I don't think that your catapult should drop you to 9V either, but CIMS draw quite a bit of current. Maybe surgical tubing/pneumatics might help alleviate some load off the CIMS? (Just spit balling an idea for that)

Finally, just for a sanity check: Leave all the hardware on your bot alone. Go back to the way it was working (deploy instead of startup I believe), and see if the robot still loses comms/code. If nothing fails, then we know it's something to do with the deploy/startup settings, assuming the order of robot operations remains the same. (Ex: Arm moves here then this motor turns for 5 seconds. If order of operations change, and something fails then you might have a shorted lead that only makes contact under certain conditions.) Or it might crash because an object/variable is being initialized a different order than what you expected.