Problem with drivetrain (read description for timestamps)

Each of the four motors and pulling 100% of the power which could potentially be the problem in the end with us losing communications. Here's the code : http://pastebin.com/AiJv1TCm

Timestamps:
0:00 ) Us running the left side motors forward at 100% and 50% alternating.
0:15 ) Right side motors fully forward and fully backward.
0:25) Ran both sides at full speed forward and motors locked up/ lost communications.

Any ideas?

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