Can't guarantee this, but typically successful deploys followed by "no robot code" usually means you're hitting a null pointer error. My best guess, looking at your code, would be to move:
Code:
double a_timenow = a_timer->Get();
double s_timenow = s_timer->Get();
double g_timenow = g_timer->Get();
Into the first lines of both AutonomousPeriodic and TeleopPeriodic (where you use the variables).