[Joe Ross]

One thing I noticed is that you're opening and closing your robot drive in teleop, plus you still have references to the default robot drive in telop. You probably have conflicts in PWM assignments doing that. You also shouldn't be opening and closing hardware like that, as telop is called 50 times per second. You should open it and save the device reference in begin. In teleop you should get the device reference and do something with it. It should be closed in finish.