[mikets]

You did not describe too much detail on what the problem was. For example, under what condition when the problem occurred (i.e. which button did you push or what were the joystick positions, basically which code path it took)? Which motor is moving twice the speed as the others? What happens if you move the joysticks? I don't quite understand your code. While it is teleop code, you are reading the light sensors to follow the line but yet you are also reading the joysticks too? Are you doing some sort of assisted drive? If you want somebody to comment, you need to give more details on what you are trying to do and what are the symptoms.