[mwtidd]

Have you tried using robotbuilder? I know our newer programmers had a lot of success using it. It helps you to avoid programming in a way that wpi doesn't support.

I was first skeptical of generating code that way, but I have since come around, and am now a big fan.

I would also recommend trying to only use one drive, and only have one timer delay. You only need one timer delay per iteration.