[engbrech]

Have done the sanity check a few times. Can go back and forth between deploying and run on boot repeatedly and the problems comes and goes with that. Seems like a coding issue but a baffling one. I don't have a clue where to start on how the code might be executing differently in the two cases. But obviously I ought to look at the catapault code as a starter.

As for the voltage drop. Seems like that might be A problem but not necessarily THE problem. The drive (four mecanum wheels with a CIM each on 8.65:1) does not operate at the same time as the catapult so it isn't that the two combine for a large voltage drop.

Tap test causes no problems.