[remulasce]

Please give us more information about what happens when you try to run your autonomous. Specifically:

Does the code compile?
Does the code deploy & appear to run on the robot?
Does the robot move at all when you try autonomous?
How much of what you expect to happen happens when you run auto?
Can you run other, simpler autonomous modes correctly? (eg. just move fwd 3 seconds)

This will greatly help us as we try to help you.