Head programmer here.
The issue is most likely software. There have been many others with the same problem (
http://www.chiefdelphi.com/forums/sh...threadid=32824 http://www.chiefdelphi.com/forums/sh...threadid=34304).
I think I've solved the problem anyways. If this is the case, I will post when I get to test the robot tomorrow.
<edit> The problem seems to have been solved for now. It was a stray printf that was being called before Initialize_Serial_Comms() was called. Hope that helps anybody else with the issue.</edit>