[Mark McLeod]

You should not make any changes to Robot Main.

Remove the delay that you added to Robot Main.
That is stopping your robot from working correctly.
It prevents your robot from responding to the driver controls for that amount of time (200ms).
When the main drive motors do get an infrequent driver command (1 out of every 10), they will "stick." Luckily they will then be shutdown after 100ms by the motor safety you Enabled in Begin, so you might see random jerky twitching that stop as soon as they try to start.

The Motor Set Output expects values of -1.0 to 1.0.
In Teleop and Autonomous the values 300 & 255 will be interpreted as 1.0
I hope you are using zero somewhere to turn it off.

In Autonomous, what are you doing with the output of the Wait to the Case? I assume you have time Cases for flipping the single solenoids?