[Greg McKaskle]

The real issue may be with the code you aren't asking about. Watchdog's are used to ensure that machinery or equipment the computer is supposed to control is being paid attention to often enough. If the computer doesn't do its job, the watchdog steps in and takes over the job, hopefully making things safer by turning off power. The FRC watchdog doesn't latch once it is thrown, so I believe what you are seeing is feeding that is way too slow.

The computer sets up the motors, then delays for a bit too long so the watchdog turns everything off. Then the code comes back, feeds, and the motors jerk back to their current settings, and then we repeat.

I don't recall seeing what mode the robot is in, but if it is teleop, this could likely be caused by putting vision or some other expensive task inside the robot Main or inside TeleOp. I think the best thing to do is post code you've modified, or pictures of the code.

Greg McKaskle