Ryan S and I added a check in DIAG_MAIN called PSAMS() which checks that the PSAMS Strain Gauge for ZM2, ZM4 and ZM5 is within 0.1V of the target. If not, gives the message "PSAMS not at Target Voltage". This should let us know if anything goes wrong with the chassis or servo as in FRS 31062. We reloaded DIAG_MAIN and it worked as expected.