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Originally Posted by Ether

Are you using Simple Robot or Iterative Robot ?

What other code do you have in autonomous besides what you posted ?

Iterative.

void AutonomousContinuous(void) {
	printf("Running in autonomous continuous...\n");

	GetWatchdog().Feed();

	if (kicker->HasBall())
	{
		//We have a ball, thus stop moving and kick the ball
		drivetrain->Drive(0.0, 0.0);
		kicker->SetKickerMode(KICKER_MODE_KICK);
	} else {
		//We do not have a ball
		if (kicker->IsKickerInPosition())
		{
			//Move forward!
			drivetrain->ArcadeDrive(autonomousForwardPower, 0.0);
		} else {
			//If not in position, wait for it to be there...
			drivetrain->ArcadeDrive(0.0, 0.0);
			kicker->SetKickerMode(KICKER_MODE_ARM);
		}
	}

	//Run the kicker
	kicker->Act();
}

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