So just recently, our 2010 robot here at FIRST Team 122 ceased to respond to our driver station. It said it found communication and robot code, but displayed voltage at 00.00, did not send signals to the pwms and caused the analog breakout chip to overheat and melt itself. After a couple of hours of reimaging the cRIO, redeploying the code, and switching out parts, we determined that the issue lay in the cRIO
To make matters worse, we plan to ship this robot in a week or two. However, after long hours of toil, research and experimentation, we managed to make it so out cRIO works, but is not legal in competition. This thread is to help anybody who has similar problems with their robot. In order to keep this thread relatively short, I am going to post what we did as comments
they just build excellence and silently wait to deploy their creation on the unsuspecting masses - Koko Ed [more] 
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