[cpapplefamily]

Yep Lots to mill through. It could likely use some clean up clearing out old commented out lines and commands that are not used. Anyhow through this conversation I been Looking deeper into what maybe happening. I see the "Sealegs" subsystem has

 setDefaultCommand(new SeaLegs_Jog_FWD());

That Command never finishes and is constantly getting the joystick values and updating the SeaLegs motors. We do have other commands that requires the SeaLegs subsystem but they finnish and the default regains control.

Plus in the RobotMap when the RobotDrive object is created we set the Safety false

 seaLegsSeaLegDrive.setSafetyEnabled(false);

So I'm looking at the driveTrainRobotDrive41 created in the RobotMap. Robotbuilder generated this code.

driveTrainRobotDrive41.setSafetyEnabled(true);
        driveTrainRobotDrive41.setExpiration(0.1);
        driveTrainRobotDrive41.setSensitivity(0.5);
        driveTrainRobotDrive41.setMaxOutput(1.0);

Should we look at the .setExpiration(0.1) value? Specially if we are controlling the Subsystem in the temporary PID command " Drive_Spin_In_Place_PID_TrackTarget"?

Thanks for listening and being a sounding board.