[whytheheckme]

In a quick regard to 4.) I am using all 6 interupts, the camera, the gyro and the accelerometer, not to mention an ultrasonic and some limit switches, pots, etc... I don't think that this is the problem.

This sounds weird. Can you post a copy of your code in a zip? Or if you don't want to give this away, can you give us an idea of the flow of the program? I doubt that there is *too much stuff*, unless you are doing a SERIOUS amount of math. Even in this case, the printf's would just be slow, not stopped. And the program state light would not be blinking either O.o...

Jacob