[jbbjjbt]

I have submitted a question to the official Q and A for clarification under the section Robot Inspection. I think based on question 6 the servos can be powered on before the match.

I agree that the "glitch" occurs when the servos are powered on. My experience is it always goes to or toward the center position. So maybe glitch is not the correct term.

I think if the servos are not continuously updated during the disable period between when you start the autonomous program on the NXT and when the FMS start the autonomous game period, that the servo will power down and the glitch will occur when the servos get power even if you set all the positions to zero. This is my experience.