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Originally Posted by KenWittlief
My first guess would be that the variables used in auton mode, ie tick count or the states... are not being cleared when auton mode is not running - it should be done at the end of your driver mode code, so that whenever the bot is switched into (back into?) auton mode, it starts from the beginning.
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Auton mode is only activated once every round, and pressing reset on the FRC before or after a round automatically clears these values for us.