Drive base thread causing problems

Apologies for the spaghetti code, but this isnt working. If I run any autonomous, it will run up until I set fairenough::xMovement::isSettled to false, after which everything breaks, including when we switch to UC. I can’t see anything that would cause it to hang like this, would another pair of eyes care to take a look at it?

EDIT: its on the changeup branch

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oops, I fixed access

Ive narrowed it down to the Inertial sensor. Now as for why thats hanging…