Why won't my character jump? [JS]

I found a script on the Unity Scripting Reference that was very useful for my FPS system. It allowed me to make my character move forwards, backwards, left, and right using the Horizontal and Vertical axes. I then added in a lot of things like jumping, looking around, and loading a new map.

I've pretty much abandoned that project and started a Third Person system. It works pretty well, until you jump. Nothing happens sometimes, but there are rare occasions where you'll jiggle around when you "jump." I investigated the problem and found that the controller won't say the character is grounded. Here's a little video that shows my problem. (On-Screen Keyboard shows that I'm sure I'm hitting the spacebar)

Here's my JavaScript:

 //Public Variables
 public var walkSpeed : float; //Set to 16
 public var jumpPower : float; //Set to 10
 public var rotSpeed : float; //Set to 5
 public var playerCamera : GameObject; //Set to the Camera
 public var failedCanvas : GameObject; //Set to a UI. Not relevant
 public var normalCanvas : GameObject; //Set to a UI. Not relevant
 public var upperTorso : GameObject; //Set to the upper part of the Character's Torso
 //Private Variables
 private var gravity : float = 400.0; //Effects how fast the player falls
 private var moveDirection : Vector3 = Vector3.zero;
 private var origWalkSpeed : float = 0;
 function Start(){
     //Cursor.visible = false;
     origWalkSpeed = walkSpeed;
 }
 
 function FixedUpdate(){
     var controller = GetComponent.<CharacterController>();
     var animController = GetComponent.<Animator>();
     moveDirection = transform.TransformDirection(Vector3(-Input.GetAxisRaw("Horizontal"), 0, -Input.GetAxisRaw("Vertical"))) * walkSpeed;
     if(Input.GetAxisRaw("Horizontal") != 0 || Input.GetAxisRaw("Vertical") != 0){
         animController.SetBool("Walking", true);
     } else {
         animController.SetBool("Walking", false);
     }
     if(Input.GetButton("Jump") && controller.isGrounded){
         print("Jumping");
         moveDirection.y = jumpPower;
         animController.ResetTrigger("Jump");
     }
     if(Input.GetButton("Run") && (Input.GetAxisRaw("Horizontal") != 0 || Input.GetAxisRaw("Vertical") != 0)){
         animController.SetBool("Running", true);
         walkSpeed = origWalkSpeed*1.5;
     } else {
         animController.SetBool("Running", false);
         walkSpeed = origWalkSpeed;
     }
     if(!controller.isGrounded){moveDirection.y -= gravity * Time.deltaTime;}
 }

I don't see why it should work any different than my FPS system. It worked fine (Still does in the FPS system) and my character has the same setup. When I added print(controller.isGrounded); all I got was a console of falses. Here's a picture of my character setup

Why isn't it grounded? I'm not falling through the floor... or floating on the floor.