Autonomous Command Group Being Canceled.

[rsaccone]

Hello,

We are seeing sporadic canceling behavior with our autonomous command group when we use the Autonomous Mode of the driver station. I would say about 9 out of 10 times the Autonomous Command Group works all the way through completely. However, we do see that 10% where the command sequence is canceled part of the way through.

In this scenario our command group consists of 9 commands which are all added with the AddSequential method of the CommanGroup. We are using the method that takes only the command as the parameter. Not the one with a timeout.

Each of those commands is interruptible. The command group seems to be canceled well before the 15 second time limit on the Autonomous Session when this occurs.

The sequence of events is that the Robot comes up disabled and we toggle into Autonomous mode on the Driver Station where our command group runs and finishes. Next, I disable the Robot and then put toggle it back into Autonomous mode where every so often the sequence starts but the 5th command in the sequence seems to be interrupted. The command that we see as interrupted is one that involves the driving subsystem. The drive subsystem has a default command on it to allow for driving in teleop mode. The default command is also interruptible by default as I'm not explicitly setting it to interruptible. I had wondered if it is some interaction between the two drive related commands.

Does the Driver Station start a new fifteen second countdown each time you toggle from disabled into Autonomous mode? Is it possible that if I disable quickly and the time period hasn't been exhausted isn't being reset the next time I toggle in?

If we run the Driver Station in practice mode it seems to always work correctly (e.g. completes the Autonomous Command group and drops into teleop mode) and we have no problems repeating it either.

Any ideas where to look are appreciated.

Regards,
Rob