[dpc131]

I'm not going to be a big help here, but during semifinals last year, we had a similiar problem. The left motor of our drive system cut out during the first 15 secs. of the tele-operated period. We frantically tried to figure out what was wrong. We tethered and everything worked fine. During our second match the exact same thing happened with the same duration. The IFI guys ensured us it was not a field fault. We hadn't made any program changes for both regionals we went to and still have never been able to duplicate the fault outside the field.

Anyway, I would also take a look at the backup battery charge and connection, we have had issues with large current draws dropping the RC voltage just for a fraction of a second and resetting itself if the backup battery is low or not connected well. Sometimes the terminals in the molex connector can get loose. Just a thought