[joelg236]

I have teleop working fine when its enabled first, but (My autonomous code is not working yet but thats a separate issue) after enabling autonomous, neither it nor teleop works at all. Also, we have a do while loop set up in autonomous that doesn't actually stop when turned to teleop. Is this a driver station bug or maybe is it the fact I dont have watchdog enabled? Any suggestions?

   public void autonomousPeriodic(){
        int x = 1;
        do{    
            gyro.reset();

            int i=0;
            while(i<4){    
                drivetrain.drive(0.5,0.0); //START GOING STRAIGHT
                Timer.delay(4.0);
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(4.0);
                gyro.reset();
                double angle = 0;
                do {
                    drivetrain.drive(0.0, 0.15); //TURN 
                    Timer.delay(0.5);
                    angle += gyro.getAngle(); //
                    gyro.reset();
                    log("Gyro reads "+angle);
                }while(angle<90); //Keep going in increments of .15 until gyro returns more than 90 degrees
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(4.0);
                i++;
            }
        }while(x>0);
    }

That's our autonomous.