[JosephC]

Originally Posted by SoulSaber1

For some reason this isn't working either. did you mean like this?

case 7: //ALL SENSORS ON *OR* MAYBE AT CROSS
                        if (time > stopTime)
                        {
                            atCross = true;
                            speed = 0;
                            gripper.set(false);         //Closes gripper
                            gripper2.set(true);         // "     "
                            drive.arcadeDrive(-.5 , 0);
                            Timer.delay(1.0);
                            drive.arcadeDrive(0 , 0);
                                                                }

Okay so I can see one clear problem here I think.

Timer.delay is generally in milliseconds so you have it going backwardsfor 1 millisecond then stopping. Try increasing Timer.delay to a greater value, say 500, then try it again.

Remeber if it goes berserk and doesnt stop for some reason you have a stop button.