[Mark McLeod]

You've removed the vi that stops Autonomous at the end of Autonomous Mode.
You really should not have modified Robot Main at all.
What Robot Main used to do was to run Autonomous Independent only once, and if it was still running when Teleop started it would kill it, so your driver could take control.

That sequence that you added to your Teleop will also cause your robot to lock up while the sequence is running, and it's trying to order the drive motors to do conflicting things at the same time.
If you want a sequence that takes time as that one does, it will need to be worked into Periodic Tasks rather than Teleop, and you will need to come up with a way to prevent the driver commands in Teleop from countermanding your orders during the sequence.

Autonomous itself looks okay.