[David.Cook]

Redukes has the correct answer here.

We experienced the same problem, which you would only encounter during the practice matches.

Auton mode works the first time, because the RC is in a fresh reset state at the start. However, the field does not reset your robot controller between the two practice runs, so if you counted your auton operation to 400 steps, the step counter is still at 400, and nothing will happen. You can solve this by simply pressing the robot reset switch between the two test runs - or cycling power.

We had the same problem at NASA/VCU during our first two runs - we were going crazy trying to figure out why one of our auton modes wouldn't work, but it had nothing to do with our coding.

BTW, there is an elegant fix for this in code. Once Auton mode is false - reset you timers, counters, whatever. This makes the robot essentially self-reset the auton variables once driver control is initiated.