[Oromus]

The problem is here:

public void robotInit() {
    	
		oi = new OI();
       // autochooser = new SendableChooser();
        //autochooser.addDefault("Default Auto", new ExampleCommand());
//        chooser.addObject("My Auto", new MyAutoCommand());
       // SmartDashboard.putData("Auto mode", autochooser);
        
      startCompetition();
    }

Remove the startCompetition() line and it will fix the problem. robotInit() is called when you call startCompetition(), so calling startCompetition() in robotInit() causes an infinite loop (AKA, a StackOverflowError). Also, you shouldn't call startCompetition() anywhere, since that function is handled by FIRST.