[Jon Stratis]

From the doxygen output:

bool RobotBase::IsAutonomous ( void )

Determine if the robot is currently in Autnomous mode.

Returns:
True if the robot is currently operating Autonomously as determined by the field controls.

So what you're doing there is asking if you're in autonomous mode inside of your autonomous loop, and then doing nothing with that information!

When using an iterative robot, you don't need to call IsAutonomous() - the loop will only run while you are in autonomous, and will stop when you aren't. If you're running a simple robot (with no build in looping structure, you'll want to put something similar to:

void Autonomous(void) 
{
    while(IsAutonomous())
    {
        //do your autonomous stuff
        watchdog.feed();
    }
}