[cstelter]

One problem I see is in OI:

public class OI {
    ...	
	 public JoystickButton joystickButton1;
	    public static Joystick joystick1;
	    public JoystickButton joystickButton2;
	    public static Joystick joystick2;

	    public OI() {
	        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS

	        Joystick joystick2 = new Joystick(1);
	        
	        Button joystickButton2 = new JoystickButton(joystick2, 1);
	        joystickButton2.whileHeld(new SetDown());
	        
	        Joystick joystick1 = new Joystick(0);

The red lines are problematic. You are declaring a local joystick only within the OI constructor that hides the static field definition that getJoystick() and your calls to OI.joystick1 will retrieve.

So I suspect that the default constructor for Joystick assigns 0 and you never get joystick2 assigned to 1.

Remove the red words and I suspect it may work better.