1-2 sec delay when entering new modes

[BigJ]

Hi all,

During the Wisconsin Regional our drivers told us that they had a 1-2 sec delay when teleoperated mode started before the robot would do anything. They (and my eyes) confirmed that other robots were indeed moving during this time. We dismissed it as we decided it wasn't a big deal. However, when we put an autonomous mode in we didn't think of this fact (and it almost cost us going backward over the center line). It seems that for 1-2 seconds when entering a new mode (teleoperated, autonomous, etc), the motors do not receive any signals. However, the code is definitely running, as the timers in our autonomous mode did things at the correct actual times. This 1-2 mystery seconds doesn't seem to happen when we are tethered on the practice field or in the pits. For now, we wait for 2 seconds at the start of autonomous, but I'd like to gain those 2 seconds back.

This leads me to believe that it has something to do with the mystical FMS, but as a programmer I know that something else can always be the problem. We don't have any watchdog errors or anything, and we don't do anything particularly intensive in the ___Init() calls. We are working off an IterativeRobot design in C++. We don't use the camera.

Any advice or thoughts is/are appreciated!