GTS Code Error (the red light of doom!)

[Denz]

A while ago I tried modifying Kevin's encoder code to work with gear tooth sensors. I had a test "robot" set up in my room, with basically a push switch on a digital in and every time I pressed it, it would trigger the interrupt and the count would increase by one.
It took a while to get working(since I'm pretty new at this) and with a little help from everyone on here (thanks guys!) I had it working fine with my practice setup. When we got to our regional, and I put it on the robot, I got a code error, the blinking red light of doom, and I don't understand why. It was working perfectly on the other processor. Any thoughts or comments?
I'll post the important parts of the code, maybe you guys can come to my rescue again.
772 is pending for ATL and we're probably going, so after scoring (very inconsistently) in autonomous maybe 1 sometimes the highest we got was 3, I would like to use the camera in combination with the GTS for better results.

If you have the time, I would really appreciate some feedback to what might be causing the code error. It worked fine at home, honest! lol. Thanks in advance...

Deniz