[JesseK]

This particular error is happening at the instantiation of the parent of TankDriveSubsystem.

Since the declaration for TankDriveSubsystem is the very first static declaration of your main class, I suspect it has little to do with your code and more to do with your environment. I don't know FRC code specifically, but I'd start by figuring out what extends HLUsageReporting and figure out what's missing from your runtime classpath from there.

From the robot, verify that the jars on the classpath actually exist. From Eclipse verify that everything on that classpath is correct (nothing's missing). I don't know the WPILib toolchain, but you may also have the wrong parameters in your build.