[Greg McKaskle]

If you get the reference inside the teleop VI, it is guaranteed that Begin has completed. If you get the references in Robot Main, how do you guarantee that Begin has set them?

If you need the refnum in Robot Main, you should just open it there rather than in Begin.

If you are carful, you can of course keep writing the code the way you are, but moving the code from teleop to Robot Main didn't fix any bugs you had, and in fact will likely introduce them. The big green comments to the left of the diagram describe the typical way of modifying the framework. They are of course only suggestions, but maybe something you should read before making big edits.

As for the location of the drive code. The easiest way to see how it should be done is to create a new project using the getting started window. Save it to a new location/name and inspect how it was originally done. You can also do this on a separate computer if you are unsure of where your current code is saved.

Greg McKaskle