CPU spike to 100% - robot unresponsive

[JohnGilb]

Hello all,

We had an issue where our robot became unresponsive during two matches - one practice match, and one elimination match.

Looking at the driver station logs, we saw that the CPU usage of the cRIO spiked to 100%. The motors continued to run at the voltages they were set at before this moment - this meant that we drove (usually at full speed) into a wall and then stalled our motors.

In the past, when we've seen deadlocks (like when two WhileHeld commands both required the same Subsystem) CPU usage would drop to near 0%. This is making us believe the problem is in some sort of infinite loop somewhere... likely in our own code.

Has anybody seen an issue like this before? If so, how did you debug/diagnose it?

Thanks!