[goodsky]

Hey there! We were struggling with similar issues for quite a while. First we would power on the robot and we could not get connection to the robot (but it was random, sometimes we would get it and other times we would not). And then after a while we started getting robot communications but it whenever we tried to download code it would come back up saying No code '[green] robot communications [red] robot code'.

I am not certain if our fixes can help you, but it is worth a try I hope! For the communications, it was just the fact that the cRio boots faster than the wireless on the robot, and we need to press the mini reset button on the cRio after the robot is up to get comms. (It sounds like you might be doing this already).
For the robot code issue, we discovered there was an object (the DriverStationLCD to be specific) that would cause the code to not link or compile correctly. This was for C++, but possibly our problems could help you figure our yours.

Keep posting! You will figure out the problem eventually!