[Tom Line]

Loops in the teleop section of the code will not work. Teleop already loops at speeds between 15 and 50 ms (depending on the comms from the driver station and your code). Putting a loop in means that teleop has to wait to loop until your loop is complete. That will cause all the watch-dog safety timers to trip because teleop will take too long.

That is in direct opposition to autonomous independent, which only runs once and CAN have loops in it.

That's why I've never like having independent - it's a distinctly different programming structure than what happens in teleop and causes confusion.