[Ether]

Save what you've got, then get rid of everything in autonomous except

drivetrain->ArcadeDrive(autonomousForwardPower, 0.0);

...and see if it drives properly.

If it does, then you've got a weird problem somewhere else in your code. Like for example, are you protecting kicker->Act(); from re-entering?

Edit: I just saw your other post. Uncontrolled re-entry could cause a stack overflow and crash your code.