[mwtidd]

what are you seeing for output on speed values?

// get the default speed and turn rate at this time
speed = powerProfile[timeInSeconds];

this is the only code where it is set.
try making it a static rather than an array like this.
start simple. then get more complicated.

I am guessing that it is 0. That would explain your spinning. Either that or your one motor may not be initialized correctly (1,2) may not be the right ports. or it may we wired correctly.