[Alan Anderson]

If that pair of while loops is the "Speed Control Encoder" SubVI, and you're using it in Teleop.vi, you will get a Watchdog error. The first loop never finishes, so the SubVI never returns a result, so anything that depends on it will not run. The code effectively halts at that point, doing nothing but reading the encoders.

Without a description of what you expect from the code I can't be sure, but I think if you just take out the While loops everything should work much better.