I'll talk about this a bit later, but turns out I forgot to increase the current limit on the power supply when I tested the robot for the first time. So, when testing the joystick, if I suddenly pressed the trigger, the current jumped and the rpi would shut down. After sitting down with the logs for a while, I found this:
May 25 01:36:39 rabbit kernel: hwmon hwmon2: Undervoltage detected!
May 25 01:36:41 rabbit kernel: hwmon hwmon2: Voltage normalised
which shows there's a problem. I'll try to raise the max to 3 - 4 A and see how it goes.
