In your task main, you have all of your code in one while(1==1) loop, and then the drive code in a second while(1==1) loop. The robot never finishes the first loop, so it never executes the code in the second loop. Just move the one line of code:
drive(vexRT[Ch3], vexRT[Ch2], 0);
from the second while loop to the end of the first while loop, and you should be good to go.