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Just a note to add to the earlier comment about the joysticks.
Autonomous mode will send exactly the max PWM you tell it to, but we've found variations from joystick to joystick even discounting offsets due to trim wheel. One set of our joysticks when trimmed perfectly send values between 23 and 239 as the max/min, so human drivers would always be under powered.
The simple check is to measure each of your joystick outputs with DEBUG statements and the slop can be easily corrected for in the code.
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"Rationality is our distinguishing characteristic - it's what sets us apart from the beasts." - Aristotle
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