For some reason operatorControl() is not being called. robotInit() is, but not operatorControl(). So as a secondary problem it was continuously saying "Output not updated enough", which through research I came to realize was a functionality of MotorSafety, which can be disabled with drive.setSafetyEnabled(false). Unfortunately that didn't work because it was in operatorControl() and operatorControl() was not being called when we switched to Teleoperated.
Code:
http://pastebin.com/6BzKXXVA
Unfortunately the stack trace isn't available to me right now.