Looking at your Robot.java. it looks like you are accessing accessing subsystems that are stored within the OI class?
You also never actually initialize your oi variable. So if you're likely running into dependency issues which are causing runtime errors.
Instantiate your subsystems within the Robot class.
Instantiate oi in robotInit(), then instantiate any commands after this.
If you need an example of how drivetrain code should be laid out in a command base robot project, there's a foot example here from team 3019:
https://github.com/fauge7/Firebird-R...team3019/robot