[ahartnet]

Well I get to do what every programmer hates (yet also secretly is relieved) to do.

It was a user error (which everyone expects). Y'alls advice of setting the wheel speed to zero helped find it quicker. We did have to different instances trying to write to the same variable. We had some "ghost code" (kind of) that was trying to set the wheel speed. It does that to in tele-op, but we have a case statement of listen to vision code or don't listen to vision code in tele-op. Nothing of the sort of Autonomous. Once we took that out, things looked much better.

Thanks for the help Peck and Chris!