[jaustin]

Mike Bortfeldt,
This is what was in the position you noted:
#pragma interruptlow InterruptHandlerLow save=PROD /* You may want to save additional symbols. */

I commented that line out and put this line below it:
#pragma interruptlow InterruptHandlerLow save=PROD, section(".tmpdata"), section("MATH_DATA")

The randomness has gone away and the software steps through my command list without jumping around! Thanks for the help!

Now I need to work on the turning. The gyro code does not seem to be working now... stay tuned for more questions!