[michaelyork]

I've been troubleshooting our robot for issues involving our drivetrain, and I just noticed an issue involving the LEDs on the motor controllers. We are running two motor controllers, going to two CIMs. When I try to rotate the robot, it works occasionally, but most of the time, it locks up, and eventually speeds forward. When it does speed forward, a light clicking sound can be heard.

Yesterday afternoon, I noticed that the right motor controller LED turns off when this issue happens. (We tested it with both a Victor 888 and a Talon SR, same issue.) It also seems to be the corresponding side of the robot that locks up. We are running a standard arcade drive program to the motor controllers, and we have never had this problem before.

We are thinking that it is either a bad CIM on the side that the motor controllers are acting funny, or something to do with the wiring as a whole. Do you have any thoughts as to why this may be happening?