We are still testing the motor firmware update that should help with these issues. We hope to at least have a beta available next week for teams to try. Until then, we are recommending that you do not run the rev10 motors above 11 volts when in voltage control mode. What we have found in our testing is that if you keep the voltage below 11v you can change directions quickly without damaging the motor. Granted there may be some edge cases that we have yet to discover. This will be a temporary work around until we can get a firmware update out next week. Thank you for your patience and best of luck to those competing this weekend.