[KenWittlief]

Couple things that will make any bot wack out (may or maynot be related to your problem)

1. battery is low. Sometimes we forget this.

2. someone else is testing last years robot, and they have it on the same team number and radio channel. If something weird is going on always check your bot on the tether cable. There could also be someone else transmitting on the same frequency with some other type of radio equipment.

3. you are not downloading the file you think you are. Its easy to get the MPLAB SW setup so that it automatically pulls the download file from one directory all the time. You can be working in a different directory and it happly keeps downloading code that you have not touched.

4. some piece of code is sending 255 to a pwm port. It doesnt have to be one of the ports you are using. The way the PWM output works a 255 will reset the PWM output address in the middle of the output stream, so the values end up at random PWM ports. This will definately make your bot totally wack out.