periodic tasks behaving differently in autonomous vs teleop (labview)

[ahartnet]

Hi all!

We've been messing with autonomous (in labview) and have come across something that we're not sure how to handle. We have a PID vi (supplied by FIRST I believe) in our periodic tasks portion of the code, and it works great for teleop. But for some reason, it behaves differently when we're in autonomous mode, and the shooter oscillates/is unstable/has a much larger steady state error.

All we do in autonomous is set our set point (wheel speed rpm desired) and look at a shared variable saying if the rpm is close enough to the desired to shoot. We also have the while loop in autonomous running at the same frequency as the while loop with the pid in periodic tasks. Lastly, we've confirmed that gains are all set correctly as defaults.

Any thoughts on causes? Or fixes? I think tomorrow we may just create an additional pid in autonomous and have a different set of gains, but that's really a band-aid I would think, there must be something I'm not taking into consideration.

Thanks!