When I look at the code Teleop code at :
http://i48.tinypic.com/sqqe8n.jpg I see that each time it is called, 50 times a second, the joysticks are being closed, additionally, the drive is being opened and closed.
Move the Opens to Begin, the Closes to Finish, and see if that helps. By the way, you'll need to name and store the drive.
Greg McKaskle