[SamCarlberg]

operatorControl is only called once, at the start of teleop. So you have to have all of your teleop code in the loop.

This is how your teleop method flows right now:

1. Check if teleop is enabled and the robot is enabled
2. If so, update drivebase inputs
3. Repeat 1 and 2
4. Loop exits -- teleop is over or the robot is disabled
5. Check if the left trigger is pulled and the robot is enabled
6. If so, set the relay
7. Delay 0.1 seconds
8. Exit operatorControl

Move everything after the loop into the loop, then it should work.

Also, you should format your code (alt+shift+F in Netbeans). The indenting is messed up and that can lead to some headache trying to understand the code