I like the state machines for teleop. Kind of similar to RobotPy's statefulAutonomous. Take a look at it
here. It basically allows you to divide autonomous functions into states, and you can advance based on time or whenever you feel the state is over.
I really liked this feature of RobotPy, and since I wanted it for FTC, I mostly ported to Java.
Take a look. It works pretty much the same way. As long as you implement the interface, all should work.
You guys should take a look at autonomous selectors, just to get rid of clutter. You have everything neatly organized into classes, why not go that extra step and make each separate autonomous it's own class as well?
As unorthodox as it is, I like the sped, speed, and speeed. Any reason you didn't declare the double before the switch, then assign a value to it with each case?
Also, looking through some of your intake update method, it seems to always be running, since you don't have a stop mode. Am I reading this right? Seems a little dangerous.