Quote Originally Posted by JoelMurphy View Post
Also, This reset problem only happens when the entire system is running. That is, the relays are actually driving motor control. When I'm testing the system [Controller goes through it's program, sending power to the 5V relays thru the darlingtons, which send power to the relays that control the motors, but not actually turning on the motors.] it works great!
That would lead me to believe that your power supply's output impedance is too high, voltage dropping out if only for a couple of milliseconds, something you'd probably miss even on a 'scope. Starting current for most motors is quite a bit higher than running current, even under load. Maybe try seperating the PIC's power supply from the motor's supply?