Parts of robot failing?

[Team 4457]

Ok, so we reviewed the code and this is the result.

Working: One side of drive train; launcher; loader (one direction).
Not working: other side of drive train (runs in very short bursts, few and far between.); reverse on loader (sends to one of the two launcher motors, also in the short bursts).

Again, there are no visible problems with the wiring or code. We contacted our mentor team, but got no response. Thank you all for your help, and any possible solutions are welcome.