[Arthur S]

This happened to us(team 4) about 3 years ago. Our lead programmer was using interrupts while trying to program the gear tooth sensor we had on our robot. This did not work out to well because the code had to finish within 23.6 milliseconds(if i remember correctly), but due to the interrupts it made the code exceed that time limit. This is what tripped the watchdog and caused a code error. You might wanna check any of your code that uses interrupts and make sure that no interrupts are interrupting interrupts(boy does that sound confusing). Hope i helped in any way.