[JamesTerm]

There is one more thing I wish to share which was a symptom 100% reproducible where during the switch from autonomous to teleop showed no connection and we continued to have lost connection until near the end of the match.

This happened at our first match last year... Unfortunately I do not know the full reason as to why, but it had to do with how much work was done cleaning up objects that ran in autonomous and starting similar ones up again in teleop. The good news is that we could reproduce this problem using the practice button (So yes there is good reason to test with it). We had to disable autonomous for that competition to avoid this symptom.

I should add using the practice button is a great test, but it could give a false positive. It may be that the instantiation (or cleanup) is just on the threshold and with any more network time delay could throw it over the edge. I just want to throw a word of caution to all programmers to not make the same mistake we did. Be aware of how much work occurs between ending autonomous and starting teleop(). We never found the root cause of this, so I do not know if the vulnerability still exists.

What I can tell you is that we instantiate everything on powerup, and do the minimal amount of work to transition from autonomous to teleop.

In regards to the current subject at hand... I just want to add this as a diagnostic check if a similar symptom occurs or had occurred.