Program: 39008
Project: 39008
Buggy source:
@Override public void runOpMode() throws InterruptedException {
  strafeAlignController=new PIDController(STRAFE_ALIGN_PID);
  dashboard=RobotDashboard.getInstance();
  telemetry=new MultipleTelemetry(telemetry,dashboard.getTelemetry());
  drive=new MecanumDrive(hardwareMap);
  drive.setEstimatedPose(new Pose2d(48,-48,Math.PI));
  camera=new VuforiaCamera();
  cryptoboxTracker=new CryptoboxTracker(AllianceColor.BLUE);
  cryptoboxLocalizer=new CryptoboxLocalizer(cryptoboxTracker,camera.getProperties(),drive);
  cryptoboxTracker.disable();
  fpsTracker=new FpsTracker();
  camera.addTracker(cryptoboxTracker);
  camera.addTracker(fpsTracker);
  camera.initialize();
  waitForStart();
  drive.followPath(new PathBuilder(new Pose2d(48,-48,Math.PI)).lineTo(new Vector2d(12,-48)).turn(-Math.PI / 2).lineTo(new Vector2d(12,-12)).build());
  waitForPathFollower();
  while (opModeIsActive()) {
    int choice=(int)(3 * Math.random());
    choice--;
    Vector2d v=new Vector2d(12 + choice * CryptoboxTracker.ACTUAL_RAIL_GAP,-60);
    if (USE_VISION) {
      cryptoboxTracker.enable();
    }
    sleep(1500);
    if (USE_VISION) {
      cryptoboxTracker.disable();
    }
    if (STRAFE_ALIGN) {
      drive.enableHeadingCorrection();
      drive.setTargetHeading(Math.PI / 2);
      strafeAlignController.reset();
      strafeAlignController.setSetpoint(v.x());
      while (opModeIsActive()) {
        double error=strafeAlignController.getError(drive.getEstimatedPose().x());
        if (Math.abs(error) < 1.5) {
          drive.stop();
          break;
        }
        drive.setVelocity(new Vector2d(0,strafeAlignController.update(error)),0);
        sleep(10);
      }
      drive.disableHeadingCorrection();
      drive.followPath(new PathBuilder(new Pose2d(v.x(),-12,Math.PI / 2)).lineTo(v).build());
      waitForPathFollower();
    }
 else {
      drive.followPath(new PathBuilder(new Pose2d(12,-12,Math.PI / 2)).lineTo(v).build());
      waitForPathFollower();
    }
    sleep(1500);
    drive.followPath(new PathBuilder(new Pose2d(v,Math.PI / 2)).lineTo(new Vector2d(12,-12)).build());
    waitForPathFollower();
  }
}

Fixed version (ground truth):
@Override public void runOpMode() throws InterruptedException {
  strafeAlignController=new PIDController(STRAFE_ALIGN_PID);
  dashboard=RobotDashboard.getInstance();
  telemetry=new MultipleTelemetry(telemetry,dashboard.getTelemetry());
  drive=new MecanumDrive(hardwareMap,telemetry);
  drive.setEstimatedPose(new Pose2d(48,-48,Math.PI));
  camera=new VuforiaCamera();
  cryptoboxTracker=new CryptoboxTracker(AllianceColor.BLUE);
  cryptoboxLocalizer=new CryptoboxLocalizer(cryptoboxTracker,camera.getProperties(),drive);
  cryptoboxTracker.disable();
  fpsTracker=new FpsTracker();
  camera.addTracker(cryptoboxTracker);
  camera.addTracker(fpsTracker);
  camera.initialize();
  waitForStart();
  drive.followPath(new PathBuilder(new Pose2d(48,-48,Math.PI)).lineTo(new Vector2d(12,-48)).turn(-Math.PI / 2).lineTo(new Vector2d(12,-12)).build());
  waitForPathFollower();
  while (opModeIsActive()) {
    int choice=(int)(3 * Math.random());
    choice--;
    Vector2d v=new Vector2d(12 + choice * CryptoboxTracker.ACTUAL_RAIL_GAP,-60);
    if (USE_VISION) {
      cryptoboxTracker.enable();
    }
    sleep(1500);
    if (USE_VISION) {
      cryptoboxTracker.disable();
    }
    if (STRAFE_ALIGN) {
      drive.enableHeadingCorrection();
      drive.setTargetHeading(Math.PI / 2);
      strafeAlignController.reset();
      strafeAlignController.setSetpoint(v.x());
      while (opModeIsActive()) {
        double error=strafeAlignController.getError(drive.getEstimatedPose().x());
        if (Math.abs(error) < 1.5) {
          drive.stop();
          break;
        }
        drive.setVelocity(new Vector2d(0,strafeAlignController.update(error)),0);
        sleep(10);
      }
      drive.disableHeadingCorrection();
      drive.followPath(new PathBuilder(new Pose2d(v.x(),-12,Math.PI / 2)).lineTo(v).build());
      waitForPathFollower();
    }
 else {
      drive.followPath(new PathBuilder(new Pose2d(12,-12,Math.PI / 2)).lineTo(v).build());
      waitForPathFollower();
    }
    sleep(1500);
    drive.followPath(new PathBuilder(new Pose2d(v,Math.PI / 2)).lineTo(new Vector2d(12,-12)).build());
    waitForPathFollower();
  }
}