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Re: Encoders not getting reset after Autonomous for Teleop.
This is a shot in the dark, but did you perhaps declare the controllers separately for autonomous vs teleop? I remember we did this a couple of years ago. This will result in two separate sets of controller objects trying to control the same physical controller. Depending on the programming model, it may either fail to properly instantiate the teleop version, or the two may fight each other.
Seeing the code would be very helpful in debugging; often the error is somewhere completely away from where you are looking.
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