Our team runs into this every year, and every year I forget how to fix it:

I decided that this is the year I'll write it down. (Probably now that I've documented it they'll fix it next year.)

These are notes I took while watching the FRC Behind the Lines episode "2015 Control System Beta Teams" (https://www.youtube.com/watch?v=uUYlS2Vkyuo) They are organized into broad categories, but are otherwise not cleaned up.