[jwakeman]

The code looks pretty good. I like your Victor names. Did you write all of it without testing any of it? Or has this just become a problem after getting your new cRio? It's hard to tell from all that code where exactly the problem might be. You might want to try using NetConsole and add some print statements to your code to see where it is getting locked up...the "output not updated" errors suggest your code is locked up somewhere. If you are using the WPILib PIDController class there are some defects that cause task deadlocks.