It appears that the Romi misses PWM signals occasionally. Debugging shows that the message gets down to setPWMValue and both heartbeat and DS enable is true. However, the motors don't move. This is most easily reproduced by using RomiReference and toggling between Disabled and Autonomous.
Note that toggling from Teleop to Autonomous or Teleop to Disable to Autonomous works. Additionally, if you force the PWM to continuously be set (minor deviations of the speed in DriveDistance) it works fine as well.
I suspect that there is an issue with the communication to the Romi either with the buffer set or i2c timing.
It appears that the Romi misses PWM signals occasionally. Debugging shows that the message gets down to setPWMValue and both heartbeat and DS enable is true. However, the motors don't move. This is most easily reproduced by using RomiReference and toggling between Disabled and Autonomous.
Note that toggling from Teleop to Autonomous or Teleop to Disable to Autonomous works. Additionally, if you force the PWM to continuously be set (minor deviations of the speed in DriveDistance) it works fine as well.
I suspect that there is an issue with the communication to the Romi either with the buffer set or i2c timing.