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Re: Autonomous won't do *anything* ?
Is your default command Interruptible? If the default command on the subsystem is not Interruptible, then any new commands including your Autonomous command will not execute until that default command ends.
Since what you have is a drivetrain, I'm guessing your default command does some kind of Teleop read of the joysticks to drive the bot around -- and probably will never terminate on its own. You may need to make sure this default command can be interrupted by using the setInterruptible(boolean interruptible) method.
Without seeing the code of your default command, however, it's hard to tell whats going on in your case.
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