[Alan Anderson]

Fixing the relay reallocation error should be easy. I'd do that before trying to debug the autonomous code.

The RobotDrive timeout isn't coming from the watchdog. It's coming from the motor safety associated with the drive motors. Some call it a "watchpuppy". If you don't set a motor output value every 100 milliseconds or faster, the safety cuts off the motor and reports the error. It's only enabled by default on the drive motors. Since your autonomous loop doesn't do any drive motor control, you'll get that error.

It's apparent from your description that something in Aim() is crashing the code. Do you see any relevant messages on the console?