[Andy A.]

I would suspect a mechanical bind and/or poor electrical connections. I'm leaning towerds a bad connection.

Do a resistence test on your frame and battery- Shorting to the frame could easily drop your voltage low enough to reset your controller if the nicad is not charged. That short may be in the wiring between the motors and victors, so it wouldn't show up unless the victors were supplying power. Carefully inspect all the drive motor wiring by hand, looking for abrasions and pinched wires, crimps that may be working loose or any exposed conductors.

I also suggest that you remove breakers to all your drive motors, and plug them back in one at a time till you have tested each motor through the speed range individually. While you do this, use a multimeter with a clamp type ammeter to monitor the current draw of each motor. On blocks, each motor should draw something like 5 amps (thats been a typical number for my team, others may consider that high or low). If a motor is higher then others, or one side of your drive is drawing more then the other, you've narrowed your problem down to a binding or a loose connection. Also check the current draw from the battery while the robot is at rest and when the drive starts to move. Look for a high draw at rest, which would indicate a problem in breakers or associtated wiring (as opposed to the wiring from the victors to the motors).

The electrical problem is easy enough to deal with, since it'll probably just need a little electrical tape or a tighted screw. If it's mechanically related, you'll need to figure out just where all the excess friction is coming from.

Are you using the kit gearboxs?

What motors are driving?

Are all your motors moving in the right direction?

Do you have a compressor on board?

-Andy A.