[euhlmann]

Originally Posted by FTC Team CC

    public void autonomousPeriodic() {
    	while(isAutonomous() && isEnabled()) {
    		// ...
    		// ...
    		Timer.delay(2.0);
    		// ...
    	}
    }

Don't do this! Periodic functions are supposed to run at 50 Hz, so you should not be doing a long while loop or a delay in them. Also, autonomousPeriodic() will only run if isAutonomous() && isEnabled() is true, so you don't need to do that check yourself.
Instead, you should implement a looping state machine so you can ensure that each loop iteration is as short as possible. I've also done some refactoring for you

public class Robot extends IterativeRobot {
    static final long AUTO_DRIVE_TIME = 2000; // ms
    static final int CAN_ID_DRIVE0 = 1;
    static final long CAN_ID_DRIVE1 = 15;

    static final double[] AUTO_DRIVE_SPEED = new double[]{-0.5, 0.0};

    enum AutoState {
        DRIVING,
        STOPPED
    }
    
    RobotDrive m_robotDrive;
    CANTalon m_testMotor0;
    CANTalon m_testMotor1;

    AutoState m_autoState;
    long m_autoStartTime;
	
    public void robotInit() {
        m_testMotor0 = new CANTalon(CAN_ID_DRIVE0);
        m_testMotor1 = new CANTalon(CAN_ID_DRIVE1);
    	m_robotDrive = new RobotDrive(m_testMotor0, m_testMotor1);
    }
    
    public void autonomousInit() {
        m_autoState = AutoState.DRIVING;
        m_autoStartTime = System.currentTimeMillis();
    }
    
    public void autonomousPeriodic() {
    	switch(m_autoState) {
        case AutoState.DRIVING:
            m_robotDrive.drive(AUTO_DRIVE_SPEED[0], AUTO_DRIVE_SPEED[1]);
            if(System.currentTimeMillis() - m_autoStartTime >= AUTO_DRIVE_TIME) {
                m_autoState = AutoState.STOPPED;
            }
            break;
        case AutoState.STOPPED:
            m_robotDrive.drive(0, 0);
            break;
        }
    }
}