[Alan Anderson]

The "watchdog delay and feed" pattern you're using for autonomous is not appropriate for Autonomous Iterative. Put it in Autonomous Independent instead. The way you're doing it now will disrupt communication. You're feeding the user watchdog, but the system watchdog will still shut down the robot outputs. I haven't looked at what it does in detail, so there might be other problems as well.

The additions you made to Begin and Finish seem fine. However, it looks like the code which ought to be in Teleop was added instead to the framework's communication loop, and it looks like you're trying to open new references to resources instead of using the "RefNum Get" to obtain the reference that was opened in Begin. I suggest that you start over with a fresh project, and this time make changes to Begin.vi, Finish.vi, Teleop.vi, and Autonomous Independent.vi only.