[Al Skierkiewicz]

Chris,
We use colored (EIA) wire marking tape for everything on the robot to assist in troubleshooting. The tape is expensive, and available from Digikey. I think it is about $30 for the ten colors in a handheld dispenser. We mark the power cable, the motor wires, the speed controller or relay, the PWM cable, the PWM output, the motor, the breaker feeding that motor circuit, the breaker location and the robot location with this tape. That way if you look down and see that the red motor is not moving, you check to see if the fan on the red controller is running. If not you check to see if the red breaker is in place. If all of that is OK but you still have no control, then you check to see that the red PWM is installed at both ends. If everything is OK then you call software. Check my post in another thread where I have posted a sample of our controls spreadsheet which shows the color coding for everything on the robot.