A real puzzle - Electromechanical fault

[mr_yes]

We started build season with a plan to use mecanum wheels on our robot. We built up a basic robot and tested it on the bridge. We found that the mecanums didn't give us enough traction to climb the bridge. However, the robot worked fine at that point. We could drive, turn and glide.

We decided to switch to conventional wheels. We made the programming change from holonomic to arcade drive. Now our robot will drive forward and backward, but whenever we try to turn, we see no motion, hear a slight decrease in the speed of our cooling fan, and the RSL goes into fast blink mode, indicating a fault. As best we can figure, our power system is becoming overburdened and the voltage to our router is getting too low, so it resets.

The battery has a fresh charge.

If we disconnect either side of our drive train (two motors at a time) electrically, we still get the same behavior, so I don't believe we have one bad Jaguar or CIM.

If we lift the wheels off the floor and try to turn, all the wheels turn in the proper directions, no faults.

We were driving our wheels directly off of CIMple boxes, and I was concerned that the gear ratio was too low for conventional wheels, so we switched back to the mecanums and continued to have the fault.

At this point I'm out of theories. Anyone have any to offer, or diagnostics to try?

Looks like another difficult Thursday at the regional...