This appears to be a continuation of a problem you posted in this thread:
http://www.chiefdelphi.com/forums/sh...ad.php?t=73546
Post #7 in this thread addressed this problem. Did you implement all of the changes suggested in post #7? Specifically, Items #1 & #2 explain why the robot would not move in a competition match after sitting on the playing field for a while before the FMS started the match.
Would you like to post your code again? Perhaps there is a new problem.
Michael