When I run autonomous with PID controls, the right motor doesn't work, but when I run it with regular VEX drivetrain, it works fine

VEX IQ General Discussion IQ Technical Discussion
1

Here is the code:

def pStraight(DISTANCE, HEADING, VELOCITY, KP):
    left_drive.set_position(0, DEGREES)
    right_drive.set_position(0, DEGREES)
    if VELOCITY > 0:
        #If driving forward
        while left_drive.position(DEGREES) < DISTANCE and right_drive.position(DEGREES) < DISTANCE:
            #Calculates amount to adjust
            error = HEADING - brain_inertial.rotation(DEGREES)
            output = error * KP
            #Sets velocity of motors
            left_drive.set_velocity(VELOCITY - output, PERCENT)
            right_drive.set_velocity(VELOCITY + output, PERCENT)
            #Drive
            left_drive.spin(FORWARD)
            right_drive.spin(FORWARD)
    else:
        #If driving reverse
        while left_drive.position(DEGREES) > DISTANCE and right_drive.position(DEGREES) > DISTANCE:
            #Same as before
            error = HEADING - brain_inertial.rotation(DEGREES)
            output = error * KP
            left_drive.set_velocity(VELOCITY - output, PERCENT)
            right_drive.set_velocity(VELOCITY + output, PERCENT)
            left_drive.spin(FORWARD)
            right_drive.spin(FORWARD)

Also, I did use the Caution Tape code (modified a little bit)

2

Do you have something that says “do this forever?” Because if you do you will want to get rid of it because then nothing past it will work. Either you need to get rid of that do this forever or you need to move it onto another code for when autonomous. Both codes should work at the same time.