Issue with auton task for 2m tangent/intake

Hi, so our catacontrol task works (2m intake and cata) during driver’s but it doesn’t work during auton, and just keeps on shooting, and never stops. Can someone please find the issue? We run this function as a task, and we use the same task during auton and drivers.

During driver’s we just call doScata and doIntake variables if the buttons are pressed

and during auton we just set the variables on and off.