[kamocat]

I could provide all sorts of style suggestions.
However, none of those actually solve your issue.
I would reccommend checking the error window on the Driver Station to see if it's user or system watchdog issues (it will give a count for both).
Like Mark suggested, make sure you're in Autonomous mode, not Practice mode.
Also, could you confirm that you have this issue only in Autonomous, and not in Teleop?