Robot code crashing after a while?

[Toa Circuit]

For some reason, when I run my code, it works for a while, then just randomly stops. I get a thing saying that there isn't any robot code running, but the little light on the DS says otherwise. I can switch modes and enable them with no issues, but still, the robot will not do anything. Aside from the crashes, everything works perfectly (Minus some potentiometer madness on our shooter tilt).

The source can be found here:
http://bitbucket.org/teammetalcow/ultimateascent