Can someone take a look at our video and code? Why isn’t it not being consistent? It doesn’t place both rings on the mobile goal everytime. Sometimes the second ring gets stuck.
A video of the auton would help, or maybe I am just blind 
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I tried to upload the mp4 video, it wouldn’t let me. Said it’s not compatible.
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Do you have clamp for the goal? Maybe then it is clamping too much.
I believe that it would be a robot problem if the ring is getting stuck, but maybe try finding one specific place to put it and make an aligner so that your auton will be consistent
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You can possibly upload the file to youtube or google drive and share us the link if it won’t work here.
Other than that though, your auton code looks pretty normal. If you’re having trouble aligning with goals and stuff, try slowing down your turn and drive speed.
Usually when autons without sensors fail it’s because of very minute inconsistencies in the setting up of the robot (being slightly too much to the left, a few degrees clockwise, etc). Videos (plural) would help greatly with this.
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Link to view video
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you can’t use a raw video, but GIFs work and a free converter can be found. I won’t specify the one I use because it could be considered advertising.
I say the letters in “GIF” individually. you have been cursed with this knowledge.
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Okay i converted the mp4 to a gif file.
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That situation does seem like it can be mitigated with tuning that turn angle, slowing down the speed, or having the robot pause for a second or two before it clamps.
I would also reccomend making that mogo clamp more consistent - probably by adding more c-channels to increase it’s clamping width or by adding funnels.
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Going off what @Gigahertz.t said, If you add a few wait commands, it should work fine. Especially when grabbing the second goal, add a wait commands between each command. When you grab the goal with your MogoMech, it is still moving because you moved back while letting go of the goal with your doinker, causing it to shake and not grabbing correctly. Hoped that helped! 
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We’ve modified the mogo clamp a few times already. Adding c- channels to increase width. We can try that. Not sure what you mean by funnels.
We know we need one more ring on another mobile goal and a robot touching the ladder. We’re going our alliance is able to do that. But probably shouldn’t depend on that.
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I believe @Gigahertz.t mean guiders when saying “funnels.” You can add either a small piece of metal, plastic, or even a screw with spacers, so the goal can roll/slide into the same place every time.
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Polycarb plates or some standoffs in a roughly triangular shaped manner that “funnel” mobile goals into the mogo clamp in the correct desired position (the blue areas)
Most people just score their preload onto a wall stake for this, grab and score on a mogo, then drive to the ladder
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Don’t forget that worlds and qualifying events require 4 rings on 3 stakes for win points.
As people have said above, try for the alliance stake. Often, you can use your Mogo scoring mechanism with the alliance stake. With a simple intake lift, you can pick up the ring next to the alliance stake to score. Simple and fast.
Hope this helps
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I think that an aligner can probably solve that problem. Another solution would be an omni clamp. I think aligner would be a little easier but can be jank sometimes, and most bots use omni clamps so it wouldn’t be that hard to find a design on Youtube or something.
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compress it into a .zip file and upload it as that.