Quote:
Originally Posted by dougwilliams
Additionally, it seems run the default DriveBase Susbsystem command (which is our main teleop drive function - reading joysticks and moving the robot). So the real autonomous step is being called periodically back and forth with the default command which are most likely in conflict with what they are command the mech_drive function to do in ping-pong fashion.
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This part is easy. There is no "requires" statement in your DriveAuto command which means there is nothing to tell the Scheduler that DriveAuto and your default command for the DriveBase should not run concurrently.
The other issue didn't jump out at me right away and I don't have time at the moment to dig deeper. I'll see if I can get some time later to circle back.