[Domenic Rodriguez]

One thing I noticed that might affect your PWM outputs is that you are using the wrong constructor for RobotDrive. When you pass the RobotDrive constructor port numbers as the parameters, it creates internal instances of the Jaguar class for the speed controllers. Your code then creates Victors using the same PWM ports as the Jaguars that RobotDrive created:

driveTrain = new RobotDrive(2, 1);
leftVictor = new Victor(2);
rightVictor = new Victor(1);

Instead, you should create your Victors first, and then pass them to the RobotDrive constructor:

leftVictor = new Victor(2);
rightVictor = new Victor(1);
driveTrain = new RobotDrive(leftVictor, rightVictor);

Also, as opposed to using the watchdog, you may want to use the MotorSafety methods provided by the RobotDrive class.The RobotDrive#setSafetyEnabled() and RobotDrive#setExpiration() methods should provide similar functionality without using the global watchdog.