[Andrew Lobos]

Are you sure ballsucker.isSwitchSet() in isFinished() is returning what you think it is? If some electrical issue is making that always return true, your function will end after the first loop.

Besides going in with a multimeter, you can just throw a System.out.println(ballsucker.isSwitchSet()); in and see what the cRIO is getting. Logging to SmartDashboard could also get the job done