You're getting an IndexOutOfBoundsException on
this line.
When working with lists and arrays, you need to check that it contains an item at a given index before trying to access it. This is
very important to remember for FRC, because an exception will crash your code and cause your robot to not move for the entirety of the match.
I cannot stress this enough: check the list size before trying to access anything
You also need to set centerRX and centerQX in the same
synchronized block, otherwise the main thread can read one new value and one old value when it updates and you'll have junk data.