Tom Line's solution worked well. Using two "Global Variables" fixed my issues almost entirely! Although I could only put the "Motor Set-Output" in Teleop, putting the Firing mechanism Case Structure would make the Motor turn off and then back on after it was done. So I put a global variable in Teleop that is only enabled in Teleop and then compares that to a function of "Enabled?" on an "Equals?" gate in Periodic Tasks to the boolean that controls the Case Structure of the firing mechanism. Both Autonomous and Teleop work fine and there's no major issues except that the driver station still reports that the drive system isn't running "fast enough", although it still drives. I've tried a lot to fix this, but I just can't figure out how.
There's still some small quirks, though. If Autonomous is enabled in the middle of a function of the firing function in Teleop, it sticks and shuts off everything else unless the robot is re-booted. I have no idea what could be causing this, as it's an anomoly that is most likely hidden underneath many operations colliding that I do not have the experience to detect.
-If anybody would be willing to look over my programming thoroughly and suggest what can be fixed/fix it themselves, I would be greatly appreciative. All of the major functions work, but I want to learn more about these types of issues and how to prevent them/what would cause them. (Plus it would add to my "solution" response on my original post for whoever has this same issue)
Here is the latest code that works:
Self-Extracting 7-Zip Archive
7-Zip Archive
Zip Archive
Thanks to everybody who has helped! I really do appreciate it.