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more issues
not sure where to put this, but:
RoboEmu doesn't seem to be working as far as knowing when autonomous mode is running. Autonomous mode should be indicated by auton_mode = 1. Using debugs (before we even do anything, as well as in other places in the code), I can't ever get your program to say auton_mode = 1. It should change the value of PB_mode to accomplish this, whenver there is a serin just overwrite that variable.
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"Without the wind, the grass does not move. Without software, hardware is useless.''
Thus spake the Master Programmer
The Tao of Programming
Translated by: Geoffrey James
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