Autonomous timing of events are to fast

[Kevin Phan]

In periodic task, you can set-up a case structure where when the robot is in auto, it does not do the function you have in periodic task. This structure would go over the entire function of what you're doing when you press the button. There's other ways, such as developing a global Boolean variable that executes your periodic task function during auto. I highly recommend doing the global Boolean method, after reading the posts before this.