[xrabohrok]

What do you have for autonomous code? There is no default autonomous. Anything you see there when you get the code should not be deleted. The Default_Routines function cannot be used in autonomous, due to its nature of interfacing with the joysticks and user input. Calling this function during autonomous is bad.

The default_Routines implementation is commented out for safety reasons. Scour the comments until you see the comment describing this, and follow the instructions. Un-commenting the function worked for us...

I can't comment further until I know the nature of your autonomous code. This seems to be a code problem.

When you say "our drives", do you mean the pwm motors? All input from the user is disabled during autonomous to keep to its namesake.