I've deployed new hardware, and you can track it on Twitter at @solarbot7. I think the IMU may still be too close to the electronics, as I am getting some funny behavior this evening. Since the robot sleeps (set to inaction) overnight, I should know more tomorrow. The IMU may have to go in an external housing or spaced out further from the other electronics. You'll notice that the lower cases are gone (still on Twitter as @fieldunit), so the wire tangling issues should be behind us for now.

Here's a photo of the old configuration and the tangled wires- not good! It breaks stuff when it does this.