VCS auton issues

Hello all,
I’m having trouble with getting my auton running, and was wondering if any of you all are able to help me. When I run the code, it only twitches in place. I have screenshots of the auton code below.

Stuff is moving, but there are still a couple problems:

  1. the drive motors aren’t stopping
  2. the lift doesn’t go down
    In summary, the motors don’t stop, no matter how few rotations I do.

Do you really want LeftFront spinning forward while LeftBack is spinning reversed? It’s hard to tell for sure since I can’t see your robot-config.h, so I don’t know which motors have been reversed. But it would be odd to reverse one and not the other. So this looks fishy and would probably have the motors fighting each other.