Randomly Dropping out of Teleop

[Auri]

We have been having issues where in the middle of a match, with no other problems, the robot suddenly drops out of teleop mode, while the driver station stays in teleop. After that, for the remainder of the match, the robot would periodically go back into teleop for a single software loop exactly once every 5 seconds, but then immediately drop out again, putting us out of the match. Neither the initial nor subsequent drops occur in conjunction with physical shocks or impacts. Neither the field management system nor the driver station indicated any connection issues. Similarly, the log file for the match shows minimal packet loss and no brownout issues. The occasional battery voltage drops during the problem are the result of the robot moving on the field when a command happened to get through during one of the single-loop teleop reconnects.

This issue occurred twice during our last regional, on different days, with seemingly no connection between them. We have another regional this coming weekend and are obviously eager to resolve this before it. We have only observed this during matches, not during practice. The driver station log files and our code are attached here. Sorry for code quality, this is our first year using C++ to code the robot.

Anyone know what is happening here and how to fix it?