[Alex.Norton]

The reason for saying the battery was because the motors might be pulling different numbers of amps with the different code. Some code may be putting a much greater strain on the motors since it is holding an arm in a particular position and this is much more likely to be the encoder code and not the original code.

However, since apparently the battery is fine, I can't see a reason for this problem. We have had very similar things happen to us in the past but it has always been fixed with a simple battery change. One thing you might check is the resistance of the battery with your multimeter cause if the battery has a bad cell then when the battery has no load it looks fully charged but when put in the bot will drop very low very quick.

If that isn't it then search me, I haven't done a huge amount of programing and certainly don't know the controller as well as I could.