[lukevanoort]

That sounds a lot like this. Since that strange behavior was caused by using a Vex servo that needed a constant PWM signal on a FRC controller that doesn't give one all the time, is it possible that your PWMs are loosing power? Maybe a bad solder in the cable or internal power issue? And, given that the controller used to work before the ccurance of this issue a stress related issue like connections coming loose makes sense, at least to me.