[pblankenbaker]

Can you add the following SmartDashboard outputs to observe the time the launcher should be raising and run your auton code in the pits with your robot up on blocks without loading a ball?

public void autonomous() { 
    myDrive.setSafetyEnabled(false);

    // Start driving and lifting the launcher immediately
    myDrive.drive(-.5, 0.0);

    startRaisingLauncher(); 
    SmartDashboard.putBoolean("Raising Launcher", true);

    // Stop driving after 3.5 seconds
    Timer.delay(3.5);
    myDrive.stopMotor(); 

    // Stop raising launcher after 4.5 more seconds (8 seconds total
    // raising launcher)
    Timer.delay(4.5); 
    stopMovingLauncher();
    SmartDashboard.putBoolean("Raising Launcher", false);

    stopAll();
}

If the delays are working properly and all of the code is being executed, you should observe a new value "Raising Launcher" appear on your smart dashboard and you should see it go true at the start of auton and then change to "false" roughly 8 seconds later. If you don't see it turn to "false" it indicates something has failed somewhere (you will probably have a stack trace in your console window on NetBeans).

Also, would it be possible for you to post your current code so we can see how your fire the ball in teleop? Maybe there is a step or procedure missing in auton.