HELP! CommandGroup not working

[Kevin Sevcik]

At least one thing you're doing wrong is reusing Commands all over the place in your CommandGroups and such. For instance:

AddSequential(Robot::oi->canUp);

That's wrong. You can't reuse Commands like this, especially in CommandGroups. Here's the relevant code from WPILib:

void Command::Start()
{
	LockChanges();
	if (m_parent != NULL)
		wpi_setWPIErrorWithContext(CommandIllegalUse, "Can not start a command that is part of a command group");

	Scheduler::GetInstance()->AddCommand(this);
}

So once you call that CommandGroup constructor with that bad AddSequential, the command instance for your CanUp button gets a parent added to it and will no longer work because that instance now thinks it's part of a CommandGroup. So everywhere you have this design anti-pattern:

AddSequential(Robot::oi->canUp);

You should replace with something like:

AddSequential(new PositionElevator(1, true));

It's more annoying, but thems the breaks.

I'm still looking at other things. Your AutonomousInit is screwy. You're starting the ZeroElevator command in there. Twice. Commands ONLY run when Scheduler->Run() is called. It's never called in AutonInit, so that command only starts to run at the first call of AutonomousPeriodic. You've already added a CommandGroup requiring the elevator after that, so I'm pretty sure the Zero Elevator command gets immediately cancelled without even initializing.

I'm not sure about your idea for triggering commands from other commands. I've never needed to do it, so I have no idea if it will work.

My only other suggestion at the moment is to start up NetConsole, cause it gives you much more detailed debugging info and you might be able to tell what's hanging up the scheduler there.