[CodeMonkeyMatt]

Simply put, you want to be creating classes in separate files, not structs in the same (you might be able to get away with putting them in the same file, not sure. I don't think it's a good idea either way though). Pick a simple WPILib class and structure your custom classes off that, using a cpp and header file. Then, you incorporate it with an #include statement, just like you would with one of the WPILib classes.

I only gave a quick glance through your code, and I'm facing my own programming troubles right now as well. I just needed a break so I came on here. Anyway, point being that I might be mistaken, or I might have missed another major bug, but I'd start there. If someone more knowledgable comes along, feel free to ignore my comments.