[Scimor5]

wow..... You seriously need to start tabbing your code and keeping track of all your brackets. Also you use while loops inapropriatly. this loop:

while(constant = true)
	{
		if (z > 0.5)
		{
			launcher.set(LAUNCH_CONSTANT * 2);
			launcherOpposite.set(LAUNCH_CONSTANT * -2);

		}
		else
		{
			launcher.set(LAUNCH_CONSTANT);
			launcherOpposite.set(LAUNCH_CONSTANT * -1);
		}
	}

never ends or updates driving, and its after this loop

while (isOperatorControl())
{
drive.tankDrive(leftStick, rightStick);
}

that ends when teleop is over, so its going to run when you dissable teleop and then never get out of it.