The continuous functions no longer exist as part of IterativeRobot. Your drive code should instead be in teleopPeriodic().
Also, don't use things like
Code:
while (isOperatorControl() && isEnabled()) {
This is only for if you're using SimpleRobot. In IterativeRobot, this loop is already made for you, and calls the init() and periodic() functions of each mode. If you put another loop inside of periodic(), your code may have serious delay issues.