When Switching between Enable and Disable mode Talon SRX stop working

[rsaccone]

Hi,

We are having an intermittent problem with our Robot Code. Currently we only have a drive subsystem active with an associated DriveCommand. It all works (meaning wheels spin and change direction with the joystick) when we initially deploy the code from Eclipse and often when we come up from a reboot of the robot. However, sometimes when we switch between disable and enable mode the Talon SRXs no longer receive a signal. We have debugged our code and are certain that when this occurs the joystick values are being read and being fed into the robotDrive->MecanumDrive_Cartsian method. If we bring up the RoboRio3950 Web based System Configuration and examine the talons with a self-test, when they are working they are in mode 0 and we can see a non-zero throttle value being applied. However when we get into the state where we are enabled and the wheels aren't moving the self-test reveals that the Mode is 15 and the throttle value is 0.

Does anyone have a suggestion as to why this might be happening?

Thanks,
Rob