From a01ad16f28ebd39a0a5a26ffcc6f7c95bc152ed3 Mon Sep 17 00:00:00 2001
From: Cole Deck <cd109876@gmail.com>
Date: Sat, 29 Feb 2020 17:01:04 -0600
Subject: [PATCH] go to competition

---
 38535A-4.v5code   |    2 +-
 build/38535A4.bin |  Bin 21580 -> 22204 bytes
 build/38535A4.elf |  Bin 269327 -> 270064 bytes
 build/38535A4.map | 1515 +++++++++++++++++++++++----------------------
 build/src/main.o  |  Bin 21900 -> 24388 bytes
 src/main.cpp      | 1322 ++++++++++++++++++++-------------------
 6 files changed, 1454 insertions(+), 1385 deletions(-)

diff --git a/38535A-4.v5code b/38535A-4.v5code
index e294d85..f0f34dd 100644
--- a/38535A-4.v5code
+++ b/38535A-4.v5code
@@ -1 +1 @@
-{"title":"38535A-4","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"19.10.1015","sdk":"20200203_11_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":2,"uid":"276-4810","options":{}},"isExpertMode":true,"isExpertModeRC":true,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null}
\ No newline at end of file
+{"title":"38535A-4","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"19.10.1015","sdk":"20200203_11_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":3,"uid":"276-4810","options":{}},"isExpertMode":true,"isExpertModeRC":true,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null}
\ No newline at end of file
diff --git a/build/38535A4.bin b/build/38535A4.bin
index 0a3cae459ef4321332de2e1cdccebc34c386176d..06ba5cf17cba50cfc826ea7b9038e49da40151a2 100644
GIT binary patch
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diff --git a/build/38535A4.elf b/build/38535A4.elf
index e0bec610f411ec3eda8449cc62b9653c9d6b2658..143404fdcfc194c968d579d683df3c6962a59166 100644
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diff --git a/build/38535A4.map b/build/38535A4.map
index b9bc7da..c0a2d2a 100644
--- a/build/38535A4.map
+++ b/build/38535A4.map
@@ -75,7 +75,7 @@ Discarded input sections
                 0x00000000        0x8 build/src/main.o
  .data.Controller1RightShoulderControlMotorsStopped
                 0x00000000        0x1 build/src/main.o
- .llvm_addrsig  0x00000000       0x17 build/src/main.o
+ .llvm_addrsig  0x00000000       0x19 build/src/main.o
  .text          0x00000000        0x0 build/src/robot-config.o
  .llvm_addrsig  0x00000000        0x4 build/src/robot-config.o
  .text          0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
@@ -367,6 +367,8 @@ Discarded input sections
                 0x00000000       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
  .text.vexDeviceMotorServoTargetSet
                 0x00000000       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexDeviceMotorAbsoluteTargetSet
+                0x00000000       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
  .text.vexDeviceVisionModeSet
                 0x00000000       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
  .text.vexDeviceVisionModeGet
@@ -939,8 +941,6 @@ Discarded input sections
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
  .rodata._ZN3vex10range10bitE
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
- .rodata._ZN3vex6PORT15E
-                0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
  .data._ZN3vex10rumbleLongE
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
  .rodata._ZN3vex17__sdk_cpp_versionE
@@ -1017,6 +1017,8 @@ Discarded input sections
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
  .rodata._ZN3vex5rightE
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
+ .rodata._ZN3vex6PORT17E
+                0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
  .rodata._ZN3vex6inchesE
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
  .rodata._ZN3vex7secondsE
@@ -1084,6 +1086,8 @@ Discarded input sections
                 0x00000000       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
  .text._ZN3vex5motor11setPositionEdNS_13rotationUnitsE
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+ .text._ZN3vex5motor8rotateToEdNS_13rotationUnitsEdNS_13velocityUnitsEb
+                0x00000000       0xc4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
  .text._ZN3vex5motor6spinToEdNS_13rotationUnitsEdNS_13velocityUnitsEb
                 0x00000000       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
  .text._ZN3vex5motor14spinToPositionEdNS_13rotationUnitsEdNS_13velocityUnitsEb
@@ -1829,10 +1833,6 @@ Discarded input sections
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  .text._ZNK3vex5timercvmEv
                 0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
- .text._ZNK3vex5timer4timeENS_9timeUnitsE
-                0x00000000       0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
- .text._ZNK3vex5timer5valueEv
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  .text._ZN3vex5timer6systemEv
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  .text._ZN3vex5timer20systemHighResolutionEv
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                 0x00000000       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+ .text.vexMotorAbsoluteTargetSet
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  .text.vexVisionModeSet
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  .text.vexVisionModeGet
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  .text._Z10autonomousv
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  .text._Z14STOPCODE_DEBUGv
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-                0x03800c34                STOPCODE_DEBUG()
+                0x03800cc4       0x84 build/src/main.o
+                0x03800cc4                STOPCODE_DEBUG()
+ .text._Z7goToPosN3vex5motorEdd
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+ *fill*         0x03800dbc        0x4 
  .text._Z11usercontrolv
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-                0x03800cb8                usercontrol()
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+                0x03800dc0                usercontrol()
+ *fill*         0x038017ac        0x4 
  .text._Z19controllerBaseInputv
-                0x03801490      0x7e0 build/src/main.o
-                0x03801490                controllerBaseInput()
- .text.main     0x03801c70       0x68 build/src/main.o
-                0x03801c70                main
+                0x038017b0      0x7e8 build/src/main.o
+                0x038017b0                controllerBaseInput()
+ .text.main     0x03801f98       0x68 build/src/main.o
+                0x03801f98                main
  .text._GLOBAL__sub_I_main.cpp
-                0x03801cd8      0x318 build/src/main.o
+                0x03802000      0x340 build/src/main.o
  .text._Z33rc_auto_loop_callback_Controller1v
-                0x03801ff0       0x30 build/src/robot-config.o
-                0x03801ff0                rc_auto_loop_callback_Controller1()
+                0x03802340       0x30 build/src/robot-config.o
+                0x03802340                rc_auto_loop_callback_Controller1()
  .text._Z11vexcodeInitv
-                0x03802020       0x28 build/src/robot-config.o
-                0x03802020                vexcodeInit()
+                0x03802370       0x28 build/src/robot-config.o
+                0x03802370                vexcodeInit()
  .text._GLOBAL__sub_I_robot_config.cpp
-                0x03802048       0x34 build/src/robot-config.o
- .text.vexMain  0x0380207c       0xb0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
-                0x0380207c                vexMain
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+ .text.vexMain  0x038023cc       0xb0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+                0x038023cc                vexMain
  .text.__vex_function_prolog
-                0x0380212c       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
-                0x0380212c                __vex_function_prolog
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+                0x0380247c                __vex_function_prolog
+ .text._init    0x03802494        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+                0x03802494                _init
+ .text._fini    0x03802498        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+                0x03802498                _fini
  .text.vexStdlibVersionLinked
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-                0x0380214c                vexStdlibVersionLinked
+                0x0380249c        0xc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+                0x0380249c                vexStdlibVersionLinked
  .text.vexStdlibVersionVerify
-                0x03802158       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
-                0x03802158                vexStdlibVersionVerify
+                0x038024a8       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+                0x038024a8                vexStdlibVersionVerify
  .text.vexPrivateApiEnable
-                0x03802188       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x03802188                vexPrivateApiEnable
+                0x038024d8       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038024d8                vexPrivateApiEnable
  .text.vexStdlibMismatchError
-                0x03802198       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x03802198                vexStdlibMismatchError
+                0x038024e8       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038024e8                vexStdlibMismatchError
  .text.vexTaskAdd
-                0x038021d4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x038021d4                vexTaskAdd
+                0x03802524       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802524                vexTaskAdd
  .text.vexTasksRun
-                0x038021e4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x038021e4                vexTasksRun
+                0x03802534       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802534                vexTasksRun
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-                0x038021f4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x038021f4                vexTaskYield
+                0x03802544       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802544                vexTaskYield
  .text.vexTaskCheckTimeslice
-                0x03802204       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x03802204                vexTaskCheckTimeslice
+                0x03802554       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802554                vexTaskCheckTimeslice
  .text.vexTaskSleep
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-                0x03802214                vexTaskSleep
+                0x03802564       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802564                vexTaskSleep
  .text.vexTasksDump
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-                0x03802224                vexTasksDump
+                0x03802574       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802574                vexTasksDump
  .text.vexTaskGetTaskIndex
-                0x03802240       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x03802240                vexTaskGetTaskIndex
+                0x03802590       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802590                vexTaskGetTaskIndex
  .text.vexTaskStopAll
-                0x03802250       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x03802250                vexTaskStopAll
+                0x038025a0       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038025a0                vexTaskStopAll
  .text.vexTaskRemoveAllUser
-                0x03802260       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x03802260                vexTaskRemoveAllUser
+                0x038025b0       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038025b0                vexTaskRemoveAllUser
  .text.vexTaskCompletionIdSet
-                0x03802294       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x03802294                vexTaskCompletionIdSet
+                0x038025e4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038025e4                vexTaskCompletionIdSet
  .text.vexTaskStopWithId
-                0x038022a4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x038022a4                vexTaskStopWithId
+                0x038025f4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038025f4                vexTaskStopWithId
  .text.vexCriticalSection
-                0x038022b4       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x038022b4                vexCriticalSection
+                0x03802604       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802604                vexCriticalSection
  .text.vexEventAdd
-                0x038022e0       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
-                0x038022e0                vexEventAdd
+                0x03802630       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802630                vexEventAdd
  .text.vexEventUserIndexGet
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-                0x03802314                vexEventUserIndexGet
+                0x03802664       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802664                vexEventUserIndexGet
  .text.vexEventAddWithArg
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-                0x03802330                vexEventAddWithArg
+                0x03802680       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802680                vexEventAddWithArg
  .text.vexEventsCleanup
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-                0x0380236c                vexEventsCleanup
+                0x038026bc       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038026bc                vexEventsCleanup
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-                0x03802398                vexDebug
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  .text.vex_sprintf
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  .text.vex_vsnprintf
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-                0x03802410                vex_vsnprintf
+                0x03802760       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802760                vex_vsnprintf
  .text.vexSystemTimeGet
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-                0x0380244c                vexSystemTimeGet
+                0x0380279c       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x0380279c                vexSystemTimeGet
  .text.vexSystemExitRequest
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-                0x03802468                vexSystemExitRequest
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+                0x038027b8                vexSystemExitRequest
  .text.vexDeviceGetByIndex
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-                0x03802484                vexDeviceGetByIndex
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+                0x038027d4                vexDeviceGetByIndex
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-                0x038024a8                vexControllerGet
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  .text.vexDeviceMotorBrakeModeSet
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-                0x03802614                vexDeviceMotorBrakeModeSet
+                0x03802964       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
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  .text.vexDeviceMotorPositionSet
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-                0x03802640                vexDeviceMotorPositionSet
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  .text.vexDeviceMotorPositionGet
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-                0x03802674                vexDeviceMotorPositionGet
- .text.vexDeviceMotorAbsoluteTargetSet
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-                0x03802698                vexDeviceMotorAbsoluteTargetSet
+                0x038029c4       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
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  .text.vexDeviceMotorRelativeTargetSet
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-                0x038026d4                vexDeviceMotorRelativeTargetSet
+                0x038029e8       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
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  .text.vexDeviceMotorGearingSet
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-                0x03802710                vexDeviceMotorGearingSet
+                0x03802a24       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
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  .text.vexDeviceMotorGearingGet
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-                0x0380273c                vexDeviceMotorGearingGet
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  .text.vexDisplayForegroundColor
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-                0x03802760                vexDisplayForegroundColor
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  .text.vexDisplayBackgroundColor
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-                0x03802784                vexDisplayBackgroundColor
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  .text.vexDisplayTextReference
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-                0x038027a8                vexDisplayTextReference
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  .text.vexDisplayTextSize
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-                0x038027cc                vexDisplayTextSize
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  .text.vexDisplayFontNamedSet
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-                0x038027f8                vexDisplayFontNamedSet
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  .text.vexFileDriveStatus
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-                0x0380281c                vexFileDriveStatus
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  .text.vexSystemStdlibImpureDataAddr
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-                0x03802840                vexSystemStdlibImpureDataAddr
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  .text.vexSystemStdlibImpureDataSize
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-                0x03802868                vexSystemStdlibImpureDataSize
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  .text.vexSystemSaveUserData
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  .text.vexDisplayThemeIdGet
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  .text.vexDeviceEventMaskSet
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  .text.vexDeviceEventMaskGet
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  .text.vexSystemVersion
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  .text.vexStdlibVersion
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  .text._ZN3vex4waitEdNS_9timeUnitsE
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  .text._ZN3vex5motorD2Ev
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-                0x038029d8                vex::motor::~motor()
-                0x038029d8                vex::motor::~motor()
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  .text._ZN3vex5motorD0Ev
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-                0x038029f8                vex::motor::~motor()
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+                0x03802d10                vex::motor::~motor()
  .text._ZN3vex5motor9installedEv
-                0x03802a14       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
-                0x03802a14                vex::motor::installed()
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+                0x03802d2c                vex::motor::installed()
  .text._ZN3vex5motor15defaultStoppingENS_9brakeTypeE
-                0x03802a2c       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
-                0x03802a2c                vex::motor::defaultStopping(vex::brakeType)
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  .text._ZN3vex5motor11setStoppingENS_9brakeTypeE
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-                0x03802a5c                vex::motor::setStopping(vex::brakeType)
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  .text._ZN3vex5motorC2El
-                0x03802a60       0x78 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
-                0x03802a60                vex::motor::motor(long)
-                0x03802a60                vex::motor::motor(long)
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  .text._ZN3vex5motorC2ElNS_11gearSettingEb
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-                0x03802ad8                vex::motor::motor(long, vex::gearSetting, bool)
-                0x03802ad8                vex::motor::motor(long, vex::gearSetting, bool)
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  .text._ZN3vex5motor10isSpinningEv
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-                0x03802b0c                vex::motor::isSpinning()
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  .text._ZN3vex5motor4stopENS_9brakeTypeE
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-                0x03802b44                vex::motor::stop(vex::brakeType)
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  .text._ZN3vex5motor4stopEv
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-                0x03802b74                vex::motor::stop()
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  .text._ZN3vex5motor16velocityToScaledEdNS_13velocityUnitsE
-                0x03802b7c       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
-                0x03802b7c                vex::motor::velocityToScaled(double, vex::velocityUnits)
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  .text._ZN3vex5motor8velocityENS_13velocityUnitsE
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-                0x03802bd8                vex::motor::velocity(vex::velocityUnits)
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  .text._ZN3vex5motor5valueEv
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-                0x03802c08                vex::motor::value()
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  .text._ZN3vex5motor16scaledToVelocityEdNS_13velocityUnitsE
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-                0x03802c24                vex::motor::scaledToVelocity(double, vex::velocityUnits)
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  .text._ZN3vex5motor4spinENS_13directionTypeEdNS_13velocityUnitsE
-                0x03802cc8       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
-                0x03802cc8                vex::motor::spin(vex::directionType, double, vex::velocityUnits)
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  .text._ZN3vex5motor4spinENS_13directionTypeE
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-                0x03802d24                vex::motor::spin(vex::directionType)
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  .text._ZN3vex5motor11setVelocityEdNS_13velocityUnitsE
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-                0x03802d4c                vex::motor::setVelocity(double, vex::velocityUnits)
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  .text._ZN3vex5motor16setRotationUnitsENS_13rotationUnitsE
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-                0x03802da0                vex::motor::setRotationUnits(vex::rotationUnits)
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  .text._ZN3vex5motor11setRotationEdNS_13rotationUnitsE
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-                0x03802dbc                vex::motor::setRotation(double, vex::rotationUnits)
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  .text._ZN3vex5motor13resetRotationEv
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-                0x03802e00                vex::motor::resetRotation()
- .text._ZN3vex5motor8rotateToEdNS_13rotationUnitsEdNS_13velocityUnitsEb
-                0x03802e20       0xc4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
-                0x03802e20                vex::motor::rotateTo(double, vex::rotationUnits, double, vex::velocityUnits, bool)
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  .text._ZN3vex5motor9rotateForEdNS_13rotationUnitsEdNS_13velocityUnitsEb
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-                0x03802ee4                vex::motor::rotateFor(double, vex::rotationUnits, double, vex::velocityUnits, bool)
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  .text._ZN3vex5motor9rotateForENS_13directionTypeEdNS_13rotationUnitsEdNS_13velocityUnitsEb
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-                0x03802fc4                vex::motor::rotateFor(vex::directionType, double, vex::rotationUnits, double, vex::velocityUnits, bool)
+                0x03803218       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
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  .text._ZN3vex5motor8rotationENS_13rotationUnitsE
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-                0x03802ff8                vex::motor::rotation(vex::rotationUnits)
+                0x0380324c       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x0380324c                vex::motor::rotation(vex::rotationUnits)
  .text._ZN3vex10controllerD2Ev
-                0x0380303c        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
-                0x0380303c                vex::controller::~controller()
-                0x0380303c                vex::controller::~controller()
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+                0x03803290                vex::controller::~controller()
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  .text._ZN3vex10controller5valueE19_V5_ControllerIndex
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-                0x03803040                vex::controller::value(_V5_ControllerIndex)
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  .text._ZN3vex10controller6button8pressingEv
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-                0x03803048                vex::controller::button::pressing()
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  .text._ZN3vex10controller6button21_buttonToPressedEventEv
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-                0x03803110                vex::controller::button::_buttonToPressedEvent()
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  .text._ZN3vex10controller6button22_buttonToReleasedEventEv
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-                0x03803130                vex::controller::button::_buttonToReleasedEvent()
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  .text._ZN3vex10controller6buttonC2ENS0_11tButtonTypeEPS0_
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-                0x03803150                vex::controller::button::button(vex::controller::tButtonType, vex::controller*)
-                0x03803150                vex::controller::button::button(vex::controller::tButtonType, vex::controller*)
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  .text._ZN3vex10controller4axis5valueEv
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-                0x03803198                vex::controller::axis::value()
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  .text._ZN3vex10controller4axis8positionENS_12percentUnitsE
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-                0x038031f0                vex::controller::axis::position(vex::percentUnits)
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  .text._ZN3vex10controller4axis23_joystickToChangedEventEv
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-                0x0380320c                vex::controller::axis::_joystickToChangedEvent()
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  .text._ZN3vex10controller4axisC2ENS0_9tAxisTypeEPS0_
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-                0x0380322c                vex::controller::axis::axis(vex::controller::tAxisType, vex::controller*)
-                0x0380322c                vex::controller::axis::axis(vex::controller::tAxisType, vex::controller*)
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  .text._ZN3vex10controllerC2ENS_14controllerTypeE
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-                0x03803258                vex::controller::controller(vex::controllerType)
-                0x03803258                vex::controller::controller(vex::controllerType)
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  .text._ZN3vex10controller3lcd15getControllerIdEv
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-                0x0380345c                vex::controller::lcd::getControllerId()
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  .text._ZN3vex10controller3lcd9setCursorEll
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-                0x0380346c                vex::controller::lcd::setCursor(long, long)
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  .text._ZN3vex10controller3lcd5printEPKcz
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-                0x038034ac                vex::controller::lcd::print(char const*, ...)
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  .text._ZN3vex10controller3lcd9clearLineEi
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-                0x03803520                vex::controller::lcd::clearLine(int)
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  .text._ZN3vex10controller3lcd11clearScreenEv
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-                0x03803564                vex::controller::lcd::clearScreen()
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  .text._ZN3vex10controller3lcd9clearLineEv
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-                0x038035c0                vex::controller::lcd::clearLine()
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  .text._ZN3vex4taskC2EPFivE
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-                0x038035c8                vex::task::task(int (*)())
-                0x038035c8                vex::task::task(int (*)())
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+                0x0380381c                vex::task::task(int (*)())
  .text._ZN3vex4taskD2Ev
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-                0x03803624                vex::task::~task()
-                0x03803624                vex::task::~task()
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  .text._ZN3vex4task4stopERKS0_
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-                0x03803628                vex::task::stop(vex::task const&)
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  .text._ZN3vex4task6_indexEPFivE
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-                0x03803640                vex::task::_index(int (*)())
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  .text._ZN3vex4task8_stopAllEv
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-                0x03803654                vex::task::_stopAll()
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  .text._ZN3vex11this_thread9sleep_forEm
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-                0x03803690                vex::this_thread::sleep_for(unsigned long)
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+                0x038038e4                vex::this_thread::sleep_for(unsigned long)
  .text._ZN3vex5event4initEmmPFvvE
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-                0x03803694                vex::event::init(unsigned long, unsigned long, void (*)())
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  .text._ZN3vex5event4initEmmPFvPvES1_
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-                0x03803698                vex::event::init(unsigned long, unsigned long, void (*)(void*), void*)
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  .text._ZN3vex5event9userindexEv
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-                0x0380369c                vex::event::userindex()
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  .text._ZZN3vex6meventC4EmmENUlvE_4_FUNEv
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  .text._ZN3vex6meventC2Emm
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-                0x038036a4                vex::mevent::mevent(unsigned long, unsigned long)
-                0x038036a4                vex::mevent::mevent(unsigned long, unsigned long)
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+                0x038038f8                vex::mevent::mevent(unsigned long, unsigned long)
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  .text._ZN3vex5brain9_getIndexEv
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-                0x03803714                vex::brain::_getIndex()
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  .text._ZN3vex5brain3lcd9setCursorEll
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-                0x03803724                vex::brain::lcd::setCursor(long, long)
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  .text._ZN3vex5brain3lcd7setFontENS_8fontTypeE
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-                0x03803768                vex::brain::lcd::setFont(vex::fontType)
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  .text._ZN3vex5brain3lcdC2Ev
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-                0x038039a4                vex::brain::lcd::lcd()
-                0x038039a4                vex::brain::lcd::lcd()
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  .text._ZN3vex5brainC2Ev
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-                0x03803a38                vex::brain::brain()
-                0x03803a38                vex::brain::brain()
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  .text._ZN3vex5brain6sdcard10isInsertedEv
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-                0x03803a70                vex::brain::sdcard::isInserted()
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  .text._ZN3vex5brainD2Ev
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-                0x03803a78                vex::brain::~brain()
-                0x03803a78                vex::brain::~brain()
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+                0x03803ccc                vex::brain::~brain()
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  .text._ZN3vex11competition11_autonomousEv
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-                0x03803a98                vex::competition::_autonomous()
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  .text._ZN3vex11competition14_drivercontrolEv
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-                0x03803b28                vex::competition::_drivercontrol()
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  .text._ZN3vex11competition8_disableEPv
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-                0x03803bb8                vex::competition::_disable(void*)
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  .text._ZN3vex11competitionC2Ev
-                0x03803c80      0x13c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
-                0x03803c80                vex::competition::competition()
-                0x03803c80                vex::competition::competition()
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+                0x03803ed4                vex::competition::competition()
  .text._ZN3vex11competitionD2Ev
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-                0x03803dbc                vex::competition::~competition()
-                0x03803dbc                vex::competition::~competition()
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+                0x03804010                vex::competition::~competition()
+                0x03804010                vex::competition::~competition()
  .text._ZN3vex11competition10autonomousEPFvvE
-                0x03803dc0       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
-                0x03803dc0                vex::competition::autonomous(void (*)())
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  .text._ZN3vex11competition13drivercontrolEPFvvE
-                0x03803e04       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
-                0x03803e04                vex::competition::drivercontrol(void (*)())
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+                0x03804058                vex::competition::drivercontrol(void (*)())
  .text._ZN3vex7triportD2Ev
-                0x03803e48       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
-                0x03803e48                vex::triport::~triport()
-                0x03803e48                vex::triport::~triport()
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+                0x0380409c                vex::triport::~triport()
+                0x0380409c                vex::triport::~triport()
  .text._ZN3vex7triportD0Ev
-                0x03803e80       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
-                0x03803e80                vex::triport::~triport()
+                0x038040d4       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x038040d4                vex::triport::~triport()
  .text._ZN3vex7triport9installedEv
-                0x03803e9c       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
-                0x03803e9c                vex::triport::installed()
+                0x038040f0       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x038040f0                vex::triport::installed()
  .text._ZN3vex7triport4portC2ElPS0_
-                0x03803eb4       0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
-                0x03803eb4                vex::triport::port::port(long, vex::triport*)
-                0x03803eb4                vex::triport::port::port(long, vex::triport*)
+                0x03804108       0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x03804108                vex::triport::port::port(long, vex::triport*)
+                0x03804108                vex::triport::port::port(long, vex::triport*)
  .text._ZN3vex7triportC2El
-                0x03803f28       0xf0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
-                0x03803f28                vex::triport::triport(long)
-                0x03803f28                vex::triport::triport(long)
+                0x0380417c       0xf0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x0380417c                vex::triport::triport(long)
+                0x0380417c                vex::triport::triport(long)
  .text.startup._GLOBAL__sub_I__ZN3vex7triportC2El
-                0x03804018       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x0380426c       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
  .text._ZN3vex5colorD2Ev
-                0x03804048        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
-                0x03804048                vex::color::~color()
-                0x03804048                vex::color::~color()
+                0x0380429c        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x0380429c                vex::color::~color()
+                0x0380429c                vex::color::~color()
  .text.startup._GLOBAL__sub_I__ZN3vex5color5blackE
-                0x0380404c      0x164 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x038042a0      0x164 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
  .text._ZN3vex5timerD2Ev
-                0x038041b0        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
-                0x038041b0                vex::timer::~timer()
-                0x038041b0                vex::timer::~timer()
+                0x03804404        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804404                vex::timer::~timer()
+                0x03804404                vex::timer::~timer()
  .text._ZN3vex5timer5clearEv
-                0x038041b4       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
-                0x038041b4                vex::timer::clear()
+                0x03804408       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804408                vex::timer::clear()
  .text._ZN3vex5timerC2Ev
-                0x038041d0       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
-                0x038041d0                vex::timer::timer()
-                0x038041d0                vex::timer::timer()
+                0x03804424       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804424                vex::timer::timer()
+                0x03804424                vex::timer::timer()
+ .text._ZNK3vex5timer4timeENS_9timeUnitsE
+                0x03804438       0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804438                vex::timer::time(vex::timeUnits) const
+ .text._ZNK3vex5timer5valueEv
+                0x03804478        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804478                vex::timer::value() const
  .text._ZN3vex10drivetrainD2Ev
-                0x038041e4       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x038041e4                vex::drivetrain::~drivetrain()
-                0x038041e4                vex::drivetrain::~drivetrain()
+                0x03804480       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804480                vex::drivetrain::~drivetrain()
+                0x03804480                vex::drivetrain::~drivetrain()
  .text._ZN3vex10drivetrainD0Ev
-                0x0380420c       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x0380420c                vex::drivetrain::~drivetrain()
+                0x038044a8       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038044a8                vex::drivetrain::~drivetrain()
  .text._ZN3vex10drivetrain8isMovingEv
-                0x03804228       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x03804228                vex::drivetrain::isMoving()
+                0x038044c4       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038044c4                vex::drivetrain::isMoving()
  .text._ZN3vex10drivetrain16setDriveVelocityEdNS_13velocityUnitsE
-                0x0380424c       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x0380424c                vex::drivetrain::setDriveVelocity(double, vex::velocityUnits)
+                0x038044e8       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038044e8                vex::drivetrain::setDriveVelocity(double, vex::velocityUnits)
+ *fill*         0x0380453c        0x4 
  .text._ZN3vex10drivetrain12setGearRatioEd
-                0x038042a0       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x038042a0                vex::drivetrain::setGearRatio(double)
+                0x03804540       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804540                vex::drivetrain::setGearRatio(double)
  .text._ZN3vex10drivetrain4turnENS_8turnTypeE
-                0x038042f4       0x50 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x038042f4                vex::drivetrain::turn(vex::turnType)
+                0x03804594       0x50 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804594                vex::drivetrain::turn(vex::turnType)
  .text._ZN3vex10drivetrain15setTurnVelocityEdNS_13velocityUnitsE
-                0x03804344       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x03804344                vex::drivetrain::setTurnVelocity(double, vex::velocityUnits)
+                0x038045e4       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038045e4                vex::drivetrain::setTurnVelocity(double, vex::velocityUnits)
  .text._ZN3vex10drivetrain6isDoneEv
-                0x0380436c       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x0380436c                vex::drivetrain::isDone()
+                0x0380460c       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x0380460c                vex::drivetrain::isDone()
  .text._ZN3vex10drivetrain4stopEv
-                0x03804380       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x03804380                vex::drivetrain::stop()
+                0x03804620       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804620                vex::drivetrain::stop()
  .text._ZN3vex10drivetrain21_waitForCompletionAllEv
-                0x038043a4       0x60 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x038043a4                vex::drivetrain::_waitForCompletionAll()
- *fill*         0x03804404        0x4 
+                0x03804644       0x60 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804644                vex::drivetrain::_waitForCompletionAll()
+ *fill*         0x038046a4        0x4 
  .text._ZN3vex10drivetrain12distanceToMmEdNS_13distanceUnitsE
-                0x03804408       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x03804408                vex::drivetrain::distanceToMm(double, vex::distanceUnits)
+                0x038046a8       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038046a8                vex::drivetrain::distanceToMm(double, vex::distanceUnits)
  .text._ZN3vex10drivetrainC2ERNS_5motorES2_dddNS_13distanceUnitsEd
-                0x03804440      0x118 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x03804440                vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double)
-                0x03804440                vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double)
+                0x038046e0      0x118 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038046e0                vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double)
+                0x038046e0                vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double)
  .text._ZN3vex10drivetrain12_angleToRevsEdNS_13rotationUnitsE
-                0x03804558       0xc0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x03804558                vex::drivetrain::_angleToRevs(double, vex::rotationUnits)
+                0x038047f8       0xc0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038047f8                vex::drivetrain::_angleToRevs(double, vex::rotationUnits)
  .text._ZN3vex10drivetrain7turnForENS_8turnTypeEdNS_13rotationUnitsEb
-                0x03804618       0xbc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x03804618                vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, bool)
+                0x038048b8       0xbc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038048b8                vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, bool)
  .text._ZN3vex10drivetrain7turnForEdNS_13rotationUnitsEb
-                0x038046d4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x038046d4                vex::drivetrain::turnFor(double, vex::rotationUnits, bool)
+                0x03804974       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804974                vex::drivetrain::turnFor(double, vex::rotationUnits, bool)
  .text._ZN3vex10drivetrain7turnForENS_8turnTypeEdNS_13rotationUnitsEdNS_13velocityUnitsEb
-                0x038046e4       0xd0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x038046e4                vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, double, vex::velocityUnits, bool)
+                0x03804984       0xd0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804984                vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, double, vex::velocityUnits, bool)
  .text._ZN3vex10drivetrain7turnForEdNS_13rotationUnitsEdNS_13velocityUnitsEb
-                0x038047b4       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
-                0x038047b4                vex::drivetrain::turnFor(double, vex::rotationUnits, double, vex::velocityUnits, bool)
+                0x03804a54       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804a54                vex::drivetrain::turnFor(double, vex::rotationUnits, double, vex::velocityUnits, bool)
  .text.vexMotorVelocitySet
-                0x038047cc       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x038047cc                vexMotorVelocitySet
+                0x03804a6c       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804a6c                vexMotorVelocitySet
  .text.vexMotorActualVelocityGet
-                0x038047ec       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x038047ec                vexMotorActualVelocityGet
+                0x03804a8c       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804a8c                vexMotorActualVelocityGet
  .text.vexMotorZeroPositionFlagGet
-                0x03804810       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804810                vexMotorZeroPositionFlagGet
+                0x03804ab0       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804ab0                vexMotorZeroPositionFlagGet
  .text.vexMotorReverseFlagSet
-                0x03804828       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804828                vexMotorReverseFlagSet
+                0x03804ac8       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804ac8                vexMotorReverseFlagSet
  .text.vexMotorEncoderUnitsSet
-                0x03804848       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804848                vexMotorEncoderUnitsSet
+                0x03804ae8       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804ae8                vexMotorEncoderUnitsSet
  .text.vexMotorBrakeModeSet
-                0x03804868       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804868                vexMotorBrakeModeSet
+                0x03804b08       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804b08                vexMotorBrakeModeSet
  .text.vexMotorPositionSet
-                0x03804888       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804888                vexMotorPositionSet
+                0x03804b28       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804b28                vexMotorPositionSet
  .text.vexMotorPositionGet
-                0x038048b0       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x038048b0                vexMotorPositionGet
- .text.vexMotorAbsoluteTargetSet
-                0x038048d4       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x038048d4                vexMotorAbsoluteTargetSet
+                0x03804b50       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804b50                vexMotorPositionGet
  .text.vexMotorRelativeTargetSet
-                0x03804904       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804904                vexMotorRelativeTargetSet
+                0x03804b74       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804b74                vexMotorRelativeTargetSet
  .text.vexMotorGearingSet
-                0x03804934       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804934                vexMotorGearingSet
+                0x03804ba4       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804ba4                vexMotorGearingSet
  .text.vexMotorGearingGet
-                0x03804954       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804954                vexMotorGearingGet
+                0x03804bc4       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804bc4                vexMotorGearingGet
  .text.vexEventMaskSet
-                0x0380496c       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x0380496c                vexEventMaskSet
+                0x03804bdc       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804bdc                vexEventMaskSet
  .text.vexEventMaskGet
-                0x03804994       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
-                0x03804994                vexEventMaskGet
+                0x03804c04       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804c04                vexEventMaskGet
  .text._ZN3vex6deviceD2Ev
-                0x038049ac        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
-                0x038049ac                vex::device::~device()
-                0x038049ac                vex::device::~device()
+                0x03804c1c        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x03804c1c                vex::device::~device()
+                0x03804c1c                vex::device::~device()
  .text._ZN3vex6device5valueEv
-                0x038049b0        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
-                0x038049b0                vex::device::value()
+                0x03804c20        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x03804c20                vex::device::value()
  .text._ZN3vex6deviceD0Ev
-                0x038049b8       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
-                0x038049b8                vex::device::~device()
+                0x03804c28       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x03804c28                vex::device::~device()
  .text._ZN3vex6device4initEl
-                0x038049cc       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
-                0x038049cc                vex::device::init(long)
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                                   0x2 (size before relaxing)
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-                0x03805434                __DTOR_END__ = .
-                0x03805434                ___DTORS_END___ = .
+                0x038056a4                __DTOR_END__ = .
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 .eh_frame
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+                0x038056a4                __eh_framehdr_start = .
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 .gcc_except_table
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                 0x03808000                __mmu_tbl_end = .
 
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  .ARM.exidx.text._Z10autonomousv
-                0x03805434        0x8 build/src/main.o
+                0x038056a4        0x8 build/src/main.o
+ .ARM.exidx.text._Z8playbackv
+                0x038056ac        0x0 build/src/main.o
+                                  0x8 (size before relaxing)
  .ARM.exidx.text._Z14STOPCODE_DEBUGv
-                0x0380543c        0x0 build/src/main.o
+                0x038056ac        0x0 build/src/main.o
+                                  0x8 (size before relaxing)
+ .ARM.exidx.text._Z7goToPosN3vex5motorEdd
+                0x038056ac        0x0 build/src/main.o
                                   0x8 (size before relaxing)
  .ARM.exidx.text._Z11usercontrolv
-                0x0380543c        0x0 build/src/main.o
+                0x038056ac        0x0 build/src/main.o
                                   0x8 (size before relaxing)
  .ARM.exidx.text._Z19controllerBaseInputv
-                0x0380543c        0x0 build/src/main.o
+                0x038056ac        0x0 build/src/main.o
                                   0x8 (size before relaxing)
  .ARM.exidx.text.main
-                0x0380543c        0x0 build/src/main.o
+                0x038056ac        0x0 build/src/main.o
                                   0x8 (size before relaxing)
  .ARM.exidx.text._GLOBAL__sub_I_main.cpp
-                0x0380543c        0x0 build/src/main.o
+                0x038056ac        0x0 build/src/main.o
                                   0x8 (size before relaxing)
  .ARM.exidx.text._Z33rc_auto_loop_callback_Controller1v
-                0x0380543c        0x0 build/src/robot-config.o
+                0x038056ac        0x0 build/src/robot-config.o
                                   0x8 (size before relaxing)
  .ARM.exidx.text._Z11vexcodeInitv
-                0x0380543c        0x0 build/src/robot-config.o
+                0x038056ac        0x0 build/src/robot-config.o
                                   0x8 (size before relaxing)
  .ARM.exidx.text._GLOBAL__sub_I_robot_config.cpp
-                0x0380543c        0x0 build/src/robot-config.o
+                0x038056ac        0x0 build/src/robot-config.o
                                   0x8 (size before relaxing)
  *(.gnu.linkonce.armexidix.*.*)
-                0x0380543c                __exidx_end = .
+                0x038056ac                __exidx_end = .
 
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  .rel.iplt      0x00000000        0x0 build/src/main.o
 
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-                0x0380543c                __preinit_array_start = .
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+                0x038056ac                __preinit_array_start = .
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  *(.preinit_array)
-                0x0380543c                __preinit_array_end = .
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-.init_array     0x0380543c       0x10
-                0x0380543c                __init_array_start = .
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  *(.init_array)
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- .init_array    0x03805440        0x4 build/src/robot-config.o
- .init_array    0x03805444        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
- .init_array    0x03805448        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
-                0x0380544c                __init_array_end = .
+ .init_array    0x038056ac        0x4 build/src/main.o
+ .init_array    0x038056b0        0x4 build/src/robot-config.o
+ .init_array    0x038056b4        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+ .init_array    0x038056b8        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x038056bc                __init_array_end = .
 
-.fini_array     0x0380544c        0x0
-                0x0380544c                __fini_array_start = .
+.fini_array     0x038056bc        0x0
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  *(SORT(.fini_array.*))
  *(.fini_array)
-                0x0380544c                __fini_array_end = .
+                0x038056bc                __fini_array_end = .
 
 .ARM.attributes
-                0x0380544c       0x3c
-                0x0380544c                __ARM.attributes_start = .
+                0x038056bc       0x3c
+                0x038056bc                __ARM.attributes_start = .
  *(.ARM.attributes)
  .ARM.attributes
-                0x0380544c       0x3a build/src/main.o
+                0x038056bc       0x3a build/src/main.o
  .ARM.attributes
-                0x03805486       0x3a build/src/robot-config.o
+                0x038056f6       0x3a build/src/robot-config.o
  .ARM.attributes
-                0x038054c0       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+                0x03805730       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
  .ARM.attributes
-                0x038054f5       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+                0x03805765       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
  .ARM.attributes
-                0x0380552a       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x0380579a       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
  .ARM.attributes
-                0x0380555f       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj)
+                0x038057cf       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj)
  .ARM.attributes
-                0x03805594       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
+                0x03805804       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
  .ARM.attributes
-                0x038055c9       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03805839       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
  .ARM.attributes
-                0x038055fe       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x0380586e       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
  .ARM.attributes
-                0x03805633       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+                0x038058a3       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
  .ARM.attributes
-                0x03805668       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_thread.cpp.obj)
+                0x038058d8       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_thread.cpp.obj)
  .ARM.attributes
-                0x0380569d       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_event.cpp.obj)
+                0x0380590d       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_event.cpp.obj)
  .ARM.attributes
-                0x038056d2       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_mevent.cpp.obj)
+                0x03805942       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_mevent.cpp.obj)
  .ARM.attributes
-                0x03805707       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x03805977       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
  .ARM.attributes
-                0x0380573c       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x038059ac       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
  .ARM.attributes
-                0x03805771       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x038059e1       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
  .ARM.attributes
-                0x038057a6       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03805a16       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
  .ARM.attributes
-                0x038057db       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03805a4b       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
  .ARM.attributes
-                0x03805810       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03805a80       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
  .ARM.attributes
-                0x03805845       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03805ab5       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
  .ARM.attributes
-                0x0380587a       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x03805aea       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
  .ARM.attributes
-                0x038058af       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+                0x03805b1f       0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
  .ARM.attributes
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  .ARM.attributes
-                0x0380590f       0x2b C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o)
+                0x03805b7f       0x2b C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o)
  .ARM.attributes
-                0x0380593a       0x2b C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-init.o)
+                0x03805baa       0x2b C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-init.o)
  .ARM.attributes
-                0x03805965       0x2b C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-snprintf.o)
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diff --git a/src/main.cpp b/src/main.cpp
index dbefd00..d39f078 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,639 +1,683 @@
-/*----------------------------------------------------------------------------*/
-/*                                                                            */
-/*    Module:       main.cpp                                                  */
-/*    Author:       VEX                                                       */
-/*    Created:      Thu Sep 26 2019                                           */
-/*    Description:  Competition Template                                      */
-/*                                                                            */
-/*----------------------------------------------------------------------------*/
-
-// ---- START VEXCODE CONFIGURED DEVICES ----
-// Robot Configuration:
-// [Name]               [Type]        [Port(s)]
-// Drivetrain           drivetrain    1, 2
-// LiftMotor            motor         18
-// LiftMotor2           motor         12
-// TiltMotor            motor         3
-// Controller1          controller
-// IntakeR              motor         17
-// IntakeL              motor         8
-// ---- END VEXCODE CONFIGURED DEVICES ----
-
-#include "vex.h"
-#include <cstdio>
-#include <fstream>
-#include <iomanip>
-#include <iostream>
-#include <string>
-
-
-using namespace vex;
-bool speedin = true;
-double driveMultiplier = 1.0;
-
-bool apressed = false;
-bool bpressed = false;
-// A global instance of competition
-competition Competition;
-
-motor LeftDriveSmart = motor(PORT1, ratio18_1, false);
-motor RightDriveSmart = motor(PORT2, ratio18_1, true);
-drivetrain Drivetrain =
-    drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295, 130, mm, 1);
-motor LiftMotor = motor(PORT18, ratio18_1, true);
-motor LiftMotor2 = motor(PORT12, ratio18_1, false);
-motor TiltMotor = motor(PORT3, ratio18_1, false);
-controller Controller1 = controller(primary);
-motor IntakeR = motor(PORT17, ratio18_1, false);
-motor IntakeL = motor(PORT8, ratio18_1, true);
-
-bool Controller1LeftShoulderControlMotorsStopped = true;
-bool Controller1RightShoulderControlMotorsStopped = true;
-bool Controller1UpDownButtonsControlMotorsStopped = true;
-bool DrivetrainLNeedsToBeStopped_Controller1 = true;
-bool DrivetrainRNeedsToBeStopped_Controller1 = true;
-bool IntakeStop = true;
-void controllerBaseInput();
-void STOPCODE_DEBUG();
-// define your global instances of motors and other devices here
-
-/*---------------------------------------------------------------------------*/
-/*                          Pre-Autonomous Functions                         */
-/*                                                                           */
-/*  You may want to perform some actions before the competition starts.      */
-/*  Do them in the following function.  You must return from this function   */
-/*  or the autonomous and usercontrol tasks will not be started.  This       */
-/*  function is only called once after the V5 has been powered on and        */
-/*  not every time that the robot is disabled.                               */
-/*---------------------------------------------------------------------------*/
-
-void pre_auton(void) {
-  // Initializing Robot Configuration. DO NOT REMOVE!
-  vexcodeInit();
-
-  // All activities that occur before the competition starts
-  // Example: clearing encoders, setting servo positions, ...
-}
-
-/*---------------------------------------------------------------------------*/
-/*                                                                           */
-/*                              Autonomous Task                              */
-/*                                                                           */
-/*  This task is used to control your robot during the autonomous phase of   */
-/*  a VEX Competition.                                                       */
-/*                                                                           */
-/*  You must modify the code to add your own robot specific commands here.   */
-/*---------------------------------------------------------------------------*/
-std::ifstream ifs;
-void goToPos(motor m, double vel, double pos);
-void playback();
-std::string instructions;
-void autonomous(void) {
-  // ..........................................................................
-  // Insert autonomous user code here.
-  // ..........................................................................
-  /*STOPCODE_DEBUG();
-  LiftMotor.setVelocity(100, percent);
-  LiftMotor2.setVelocity(100, percent);
-  TiltMotor.setVelocity(30, percent);
-  //Drivetrain.driveFor(6, inches);*/
-  LiftMotor.resetRotation();
-  LiftMotor2.resetRotation();
-  TiltMotor.resetRotation();
-  IntakeL.resetRotation();
-  IntakeR.resetRotation();
-  LeftDriveSmart.resetRotation();
-  RightDriveSmart.resetRotation();
-
-  LiftMotor.setStopping(hold);
-  LiftMotor2.setStopping(hold);
-  // STOPCODE_DEBUG();
-  // uint8_t * instructions = nullptr;
-  // Brain.SDcard.loadfile("recording.bin", instructions, 2500); // size in
-  // bytes
-  ifs.open("recording.txt", std::ofstream::in);
-  Controller1.Screen.print("File opened");
-  timer tim;
-  tim.clear();
-  while (std::getline(ifs, instructions)) {
-    while (tim.value() < 0.075) {
-      wait(1, msec);
-    }
-    tim.clear();
-    playback();
-  }
-  ifs.close();
-  STOPCODE_DEBUG();
-  Drivetrain.setDriveVelocity(40, percent);
-  Drivetrain.setTurnVelocity(50, percent);
-  // Drivetrain.turnFor(5, degrees);
-  Drivetrain.driveFor(15, inches, false);
-  wait(2, sec);
-  Drivetrain.setDriveVelocity(80, percent);
-  Drivetrain.driveFor(reverse, 16, inches);
-  wait(1, sec);
-  // Drivetrain.turnFor(-45, degrees);
-  STOPCODE_DEBUG();
-  LiftMotor.startSpinTo(40 * 7, degrees); // unlock everything
-  LiftMotor2.startSpinTo(40 * 7, degrees);
-  waitUntil(LiftMotor.isDone() && LiftMotor2.isDone());
-  TiltMotor.startSpinTo(45 * 7, degrees);
-  LiftMotor.startSpinTo(10 * 7, degrees);
-  LiftMotor2.startSpinTo(10 * 7, degrees);
-  waitUntil(LiftMotor.isDone() && LiftMotor2.isDone() && TiltMotor.isDone());
-  IntakeL.setVelocity(100, percent);
-  IntakeR.setVelocity(100, percent);
-  IntakeL.startSpinTo(-5, rev);
-  IntakeR.startSpinTo(-5, rev);
-  TiltMotor.startSpinTo(5, degrees);
-  waitUntil(TiltMotor.isDone());
-  // STOPCODE_DEBUG();
-  STOPCODE_DEBUG();
-  IntakeL.setVelocity(100, percent);
-  IntakeR.setVelocity(100, percent);
-  // IntakeL.startSpinTo(5, rev); // grab preload
-  // IntakeR.startSpinTo(5, rev);
-  Drivetrain.setDriveVelocity(80, percent);
-  Drivetrain.setTurnVelocity(100, percent);
-
-  // Drivetrain.driveFor(24 * 3.5, inches); // drive to the row of 4 (if on that
-  // tile)
-  waitUntil(IntakeL.isDone() && IntakeR.isDone());
-  // Drivetrain.turnFor(-90, degrees); // turn LEFT
-  IntakeL.spin(forward);
-  IntakeR.spin(forward);
-  Drivetrain.setDriveVelocity(50, percent);
-  Drivetrain.driveFor(24 * 0.8, inches); // grab 4 cubes
-  wait(1000, msec);
-  IntakeL.stop(hold);
-  IntakeR.stop(hold); // hold the cubes
-  STOPCODE_DEBUG();
-  Drivetrain.driveFor(reverse, 24 * 1.6, inches); // go back
-  Drivetrain.setTurnVelocity(50, percent);
-  Drivetrain.turnFor(130, degrees); // turn RIGHT towards corner
-  Drivetrain.setDriveVelocity(33, percent);
-  Drivetrain.driveFor(24 * 0.8, inches); // go to corner
-  TiltMotor.spinTo(50 * 7, degrees);     // tilt cubes
-  IntakeL.setVelocity(20, percent);
-  IntakeR.setVelocity(20, percent);
-  IntakeL.startSpinFor(-3, rev);
-  IntakeR.startSpinFor(-3, rev); // start pushing out cubes
-  Drivetrain.setDriveVelocity(25, percent);
-  Drivetrain.driveFor(reverse, 24 * 0.8, inches); // back away slowly
-}
-void playback() {
-  int y = 0;
-  y = instructions.find(" ", 5);
-  double vel = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  y = instructions.find(" ", 5);
-  double pos = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  Controller1.Screen.print(vel);
-  
-  // LeftDriveSmart.setVelocity(vel, percent);
-  // LeftDriveSmart.startSpinTo(pos, degrees);
-
-  y = instructions.find(" ", 5);
-  double vel2 = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  y = instructions.find(" ", 5);
-  double pos2 = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  //Controller1.Screen.print(vel);
-  goToPos(LeftDriveSmart, vel, pos);
-  goToPos(RightDriveSmart, vel2, pos2);
-
-  y = instructions.find(" ", 5);
-  vel = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  IntakeL.spin(forward, vel, percent);
-  IntakeR.spin(forward, vel, percent);
-
-  y = instructions.find(" ", 5);
-  vel = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  y = instructions.find(" ", 5);
-  pos = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  goToPos(LiftMotor, vel, pos);
-  goToPos(LiftMotor2, vel, pos);
-  //LiftMotor2.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
-
-  y = instructions.find(" ", 5);
-  vel = strtod(instructions.substr(0, y).c_str(), NULL);
-  instructions = instructions.substr(y + 1);
-  y = instructions.find(" ", 5);
-  pos = strtod(instructions.substr(0, y).c_str(), NULL);
-  goToPos(TiltMotor, vel, pos);
-  //TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
-  //wait(10, msec);
-}
-/*---------------------------------------------------------------------------*/
-/*                                                                           */
-/*                              User Control Task                            */
-/*                                                                           */
-/*  This task is used to control your robot during the user control phase of */
-/*  a VEX Competition.                                                       */
-/*                                                                           */
-/*  You must modify the code to add your own robot specific commands here.   */
-/*---------------------------------------------------------------------------*/
-std::ofstream ofs;
-
-void usercontrol(void) {
-  LiftMotor.setVelocity(100, percent);
-  LiftMotor2.setVelocity(100, percent);
-  TiltMotor.setVelocity(30, percent);
-  Controller1.Screen.clearScreen();
-  Controller1.Screen.setCursor(0, 0);
-  Controller1.Screen.clearLine();
-  Controller1.Screen.print("Normal Driving ");
-  bool recording = false;
-  bool donerecording = false;
-  timer tim2;
-  // User control code here, inside the loop
-  while (1) {
-    // This is the main execution loop for the user control program.
-    // Each time through the loop your program should update motor + servo
-    // values based on feedback from the joysticks.
-
-    // ........................................................................
-    // Insert user code here. This is where you use the joystick values to
-    // update your motors, etc.
-    // ........................................................................
-    if (Controller1.ButtonY.pressing()) {
-      speedin = false;
-      driveMultiplier = 0.33;
-      Controller1.Screen.setCursor(0, 0);
-      Controller1.Screen.clearLine();
-      Controller1.Screen.print("Precise Driving ");
-    } else if (Controller1.ButtonX.pressing()) {
-      speedin = true;
-      driveMultiplier = 1;
-      Controller1.Screen.setCursor(0, 0);
-      Controller1.Screen.clearLine();
-      Controller1.Screen.print("Normal Driving  ");
-    }
-    if (Controller1.ButtonA.pressing() && !apressed) {
-      speedin = !speedin;
-      apressed = true;
-    } else if (!Controller1.ButtonA.pressing())
-      apressed = false;
-
-    if (Controller1.ButtonB.pressing() && !bpressed) {
-      if (driveMultiplier == 1.0) {
-        driveMultiplier = 0.33;
-        Controller1.Screen.setCursor(0, 0);
-        // Controller1.Screen.clearLine();
-        Controller1.Screen.print("Precise Driving");
-      } else if (driveMultiplier == 0.33) {
-        driveMultiplier = 1;
-        Controller1.Screen.setCursor(0, 0);
-        // Controller1.Screen.clearLine();
-        Controller1.Screen.print("Normal Driving ");
-      }
-      bpressed = true;
-    } else if (!Controller1.ButtonB.pressing())
-      bpressed = false;
-    // uint8_t * data = (uint8_t*)malloc(sizeof(uint8_t) * 5);
-    if (Controller1.ButtonLeft.pressing() && !recording) {
-      recording = true;
-
-      LeftDriveSmart.resetRotation();
-      RightDriveSmart.resetRotation();
-      LiftMotor.resetRotation();
-      LiftMotor2.resetRotation();
-      TiltMotor.resetRotation();
-      IntakeL.resetRotation();
-      IntakeR.resetRotation();
-      if (Brain.SDcard.isInserted()) {
-        // create a file with long filename
-        ofs.open("recording.txt", std::ofstream::out);
-      }
-      tim2.clear();
-    }
-    if (Controller1.ButtonRight.pressing()) {
-      donerecording = true;
-    }
-    controllerBaseInput();
-    if (recording) {
-      while (tim2.value() < 0.075) {
-        wait(1, msec);
-      }
-      tim2.clear();
-      // count ++;
-      std::string thisReading = "";
-      char output[12];
-      snprintf(output, 12, "%f", LeftDriveSmart.velocity(percent));
-      thisReading += output;
-      thisReading += " ";
-      // output[12] = "";
-      snprintf(output, 12, "%f", LeftDriveSmart.rotation(degrees));
-      thisReading += output;
-      thisReading += " ";
-
-      // output[12] = "";
-      snprintf(output, 12, "%f", RightDriveSmart.velocity(percent));
-      thisReading += output;
-      thisReading += " ";
-      // output[12] = "";
-      snprintf(output, 12, "%f", RightDriveSmart.rotation(degrees));
-      thisReading += output;
-      thisReading += " ";
-
-      // char output[12];
-      snprintf(output, 12, "%f", IntakeL.velocity(percent));
-      thisReading += output;
-      thisReading += " ";
-
-      // output[12] = "";
-      snprintf(output, 12, "%f", LiftMotor.velocity(percent));
-      thisReading += output;
-      thisReading += " ";
-      // output[12] = "";
-      snprintf(output, 12, "%f", LiftMotor.rotation(degrees));
-      thisReading += output;
-      thisReading += " ";
-
-      // output[12] = "";
-      snprintf(output, 12, "%f", TiltMotor.velocity(percent));
-      thisReading += output;
-      thisReading += " ";
-      // output[12] = "";
-      snprintf(output, 12, "%f", TiltMotor.rotation(degrees));
-      thisReading += output;
-      thisReading += " \n";
-      ofs << thisReading;
-
-      // data = (uint8_t*)realloc(data, sizeof(uint8_t) * 5 * count + 5);
-      // uint8_t* thisReading;
-      // thisReading = new uint8_t[5];
-      /*thisReading = {(uint8_t) (LeftDriveSmart.velocity(percent)+100),
-                                (uint8_t)
-      (RightDriveSmart.velocity(percent)+100), (uint8_t)
-      (IntakeL.velocity(percent)+100), (uint8_t)
-      (LiftMotor.velocity(percent)+100), (uint8_t)
-      (TiltMotor.velocity(percent)+100)
-      };*/
-      //*(thisReading) = (uint8_t) (LeftDriveSmart.velocity(percent)+100);
-      //*(thisReading+1) = (uint8_t) (RightDriveSmart.velocity(percent)+100);
-      //*(thisReading+2) = (uint8_t) (IntakeL.velocity(percent)+100);
-      //*(thisReading+3) = (uint8_t) (LiftMotor.velocity(percent)+100);
-      //*(thisReading+4) = (uint8_t) (TiltMotor.velocity(percent)+100);
-      // int startIndex = count * 5;
-      // for(int i = 0; i < 5; i++) {
-      //  data[startIndex + i] = thisReading[i];
-      //}
-      if (donerecording) {
-        // Brain.SDcard.savefile("recording.bin", data, sizeof(data));
-        recording = false;
-        ofs.close();
-      }
-    } else {
-      wait(20, msec); // Sleep the task for a short amount of time to
-                      // prevent wasted resources.
-    }
-    // controllerBaseInput();
-  }
-}
-
-//
-// Main will set up the competition functions and callbacks.
-//
-int main() {
-  // Set up callbacks for autonomous and driver control periods.
-  Competition.autonomous(autonomous);
-  Competition.drivercontrol(usercontrol);
-
-  // Run the pre-autonomous function.
-  pre_auton();
-
-  // Prevent main from exiting with an infinite loop.
-  while (true) {
-    wait(100, msec);
-  }
-}
-void STOPCODE_DEBUG() {
-  Drivetrain.stop();
-  LiftMotor.stop();
-  LiftMotor2.stop();
-  IntakeR.stop();
-  IntakeL.stop();
-  TiltMotor.stop();
-  while (true)
-    wait(20, msec);
-}
-
-/*void goToPos(motor m, double vel, double pos) {
-  m.setVelocity(vel, percent);
-  if (true || pos > m.rotation(degrees)) {
-    if (vel > 0 && !m.isSpinning()) {
-      m.spin(forward);
-    }
-  } else {
-    m.stop();
-  }
-
-  if (true || pos < m.rotation(degrees)) {
-    if (vel < 0 && !m.isSpinning()) {
-      m.spin(forward);
-    }
-  } else {
-    m.stop();
-  }
-}*/
-void goToPos(motor m, double vel, double pos) {
-  m.setVelocity(vel, percent);
-  if (vel != 0 && !m.isSpinning()) {
-    m.spin(forward);
-  }
-}
-void controllerBaseInput() {
-
-  // int drivetrainLeftSideSpeed = Controller1.Axis3.position();
-  // int drivetrainRightSideSpeed = Controller1.Axis2.position();
-  double axisAngle =
-      atan2(Controller1.Axis3.position(), Controller1.Axis4.position());
-  axisAngle *= 180 / 3.1415926;
-
-  // if(Controller1.Axis4.position() < 0) axisAngle += 180;
-  // Controller1.Screen.setCursor(0, 50);
-  // Controller1.Screen.clearLine();
-  // Controller1.Screen.print(axisAngle);
-  int drivetrainLeftSideSpeed = Controller1.Axis3.position();
-  int drivetrainRightSideSpeed = Controller1.Axis4.position();
-  int powerLevel =
-      sqrt(Controller1.Axis3.position() * Controller1.Axis3.position() +
-           Controller1.Axis4.position() * Controller1.Axis4.position());
-  // left side
-  if (axisAngle < 90 && axisAngle >= 0)
-    drivetrainLeftSideSpeed = powerLevel;
-  else if (axisAngle <= 181 && axisAngle >= 90)
-    drivetrainLeftSideSpeed = int(powerLevel * (135 - axisAngle) / 45);
-  else if (axisAngle >= -181 && axisAngle <= -90)
-    drivetrainLeftSideSpeed = -powerLevel;
-  else if (axisAngle > -90 && axisAngle < 0)
-    drivetrainLeftSideSpeed = int(powerLevel * (45 + axisAngle) / 45);
-
-  if (axisAngle <= 181 && axisAngle >= 90)
-    drivetrainRightSideSpeed = powerLevel;
-  else if (axisAngle < 90 && axisAngle >= 0)
-    drivetrainRightSideSpeed = -int(powerLevel * (45 - axisAngle) / 45);
-  else if (axisAngle > -90 && axisAngle < 0)
-    drivetrainRightSideSpeed = -powerLevel;
-  else if (axisAngle >= -181 && axisAngle <= -90)
-    drivetrainRightSideSpeed = -int(powerLevel * (135 + axisAngle) / 45);
-
-  if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() > 0 &&
-      (int(axisAngle) == 90 || int(axisAngle) == 0)) {
-    drivetrainLeftSideSpeed = powerLevel;
-    drivetrainRightSideSpeed = powerLevel;
-  }
-  if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() < 0 &&
-      (int(axisAngle) == -90 || int(axisAngle) == 0)) {
-    drivetrainLeftSideSpeed = -powerLevel;
-    drivetrainRightSideSpeed = -powerLevel;
-  }
-  if (Controller1.Axis4.position() < 0 &&
-      (int(axisAngle) == 180 || int(axisAngle) == -180 ||
-       int(axisAngle) == 0)) {
-    drivetrainLeftSideSpeed = -powerLevel;
-    drivetrainRightSideSpeed = powerLevel;
-  }
-  int IntakeSpeed = Controller1.Axis2.position();
-  if (IntakeSpeed < 5 && IntakeSpeed > -5) {
-    // check if the left motor has already been stopped
-    if (IntakeStop) {
-      // stop the left drive motor
-      IntakeL.stop();
-      IntakeR.stop();
-      // tell the code that the left motor has been stopped
-      IntakeStop = false;
-    }
-  } else {
-    // reset the toggle so that the deadband code knows to stop the left motor
-    // next time the input is in the deadband range
-    IntakeStop = true;
-  }
-  // only tell the left drive motor to spin if the values are not in the
-  // deadband range
-  if (speedin) {
-    Controller1.Screen.setCursor(2, 0);
-    // Controller1.Screen.clearLine();
-    Controller1.Screen.print("Fast intake");
-  } else {
-    Controller1.Screen.setCursor(2, 0);
-    // Controller1.Screen.clearLine();
-    Controller1.Screen.print("Slow intake");
-    IntakeSpeed /= 4;
-  }
-
-  if (Controller1.ButtonDown.pressing()) {
-    drivetrainLeftSideSpeed = -20;
-    drivetrainRightSideSpeed = -20;
-    IntakeStop = true;
-    IntakeSpeed = -20;
-  } else if (Controller1.ButtonUp.pressing()) {
-    drivetrainLeftSideSpeed = 20;
-    drivetrainRightSideSpeed = 20;
-    IntakeStop = true;
-    IntakeSpeed = 20;
-  } else {
-    drivetrainLeftSideSpeed *= driveMultiplier;
-    drivetrainRightSideSpeed *= driveMultiplier;
-  }
-  if (IntakeStop) {
-    IntakeL.setVelocity(IntakeSpeed, percent);
-    IntakeR.setVelocity(IntakeSpeed, percent);
-    IntakeL.spin(forward);
-    IntakeR.spin(forward);
-  }
-  // check if the value is inside of the deadband range
-  if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
-    // check if the left motor has already been stopped
-    if (DrivetrainLNeedsToBeStopped_Controller1) {
-      // stop the left drive motor
-      LeftDriveSmart.stop();
-      // tell the code that the left motor has been stopped
-      DrivetrainLNeedsToBeStopped_Controller1 = false;
-    }
-  } else {
-    // reset the toggle so that the deadband code knows to stop the left motor
-    // next time the input is in the deadband range
-    DrivetrainLNeedsToBeStopped_Controller1 = true;
-  }
-  // check if the value is inside of the deadband range
-  if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) {
-    // check if the right motor has already been stopped
-    if (DrivetrainRNeedsToBeStopped_Controller1) {
-      // stop the right drive motor
-      RightDriveSmart.stop();
-      // tell the code that the right motor has been stopped
-      DrivetrainRNeedsToBeStopped_Controller1 = false;
-    }
-  } else {
-    // reset the toggle so that the deadband code knows to stop the right motor
-    // next time the input is in the deadband range
-    DrivetrainRNeedsToBeStopped_Controller1 = true;
-  }
-  // only tell the left drive motor to spin if the values are not in the
-  // deadband range
-  if (DrivetrainLNeedsToBeStopped_Controller1) {
-    LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);
-    LeftDriveSmart.spin(forward);
-  }
-  // only tell the right drive motor to spin if the values are not in the
-  // deadband range
-  if (DrivetrainRNeedsToBeStopped_Controller1) {
-    RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);
-    RightDriveSmart.spin(forward);
-  }
-  // check the ButtonL1/ButtonL2 status to control LiftMotor
-  if (Controller1.ButtonL1.pressing()) {
-    LiftMotor.spin(forward);
-    LiftMotor2.spin(forward);
-    Controller1LeftShoulderControlMotorsStopped = false;
-  } else if (Controller1.ButtonL2.pressing()) {
-    LiftMotor.spin(reverse);
-    LiftMotor2.spin(reverse);
-    Controller1LeftShoulderControlMotorsStopped = false;
-  } else if (!Controller1LeftShoulderControlMotorsStopped) {
-    LiftMotor.stop(hold);
-    LiftMotor2.stop(hold);
-    // set the toggle so that we don't constantly tell the motor to stop when
-    // the buttons are released
-    Controller1LeftShoulderControlMotorsStopped = true;
-  }
-
-  // only tell the right drive motor to spin if the values are not in the
-  // deadband range
-
-  // check the ButtonR1/ButtonR2 status to control Intake
-  /*if (Controller1.ButtonR1.pressing()) {
-    IntakeR.spin(forward);
-    IntakeL.spin(forward);
-    Controller1RightShoulderControlMotorsStopped = false;
-  } else if (Controller1.ButtonR2.pressing()) {
-    IntakeR.spin(reverse);
-    IntakeL.spin(reverse);
-    Controller1RightShoulderControlMotorsStopped = false;
-  } else if (!Controller1RightShoulderControlMotorsStopped) {
-    IntakeR.stop(hold);
-    IntakeL.stop(hold);
-    // set the toggle so that we don't constantly tell the motor to stop when
-  the buttons are released Controller1RightShoulderControlMotorsStopped = true;
-  }*/
-  // check the Right Shoulder Buttons status to control TiltMotor
-  if (Controller1.ButtonR1.pressing()) {
-    TiltMotor.spin(forward);
-    Controller1UpDownButtonsControlMotorsStopped = false;
-  } else if (Controller1.ButtonR2.pressing()) {
-    TiltMotor.spin(reverse);
-    Controller1UpDownButtonsControlMotorsStopped = false;
-  } else if (!Controller1UpDownButtonsControlMotorsStopped) {
-    TiltMotor.stop(hold);
-    // set the toggle so that we don't constantly tell the motor to stop when
-    // the buttons are released
-    Controller1UpDownButtonsControlMotorsStopped = true;
-  }
-}
\ No newline at end of file
+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/*    Module:       main.cpp                                                  */
+/*    Author:       VEX                                                       */
+/*    Created:      Thu Sep 26 2019                                           */
+/*    Description:  Competition Template                                      */
+/*                                                                            */
+/*----------------------------------------------------------------------------*/
+
+// ---- START VEXCODE CONFIGURED DEVICES ----
+// Robot Configuration:
+// [Name]               [Type]        [Port(s)]
+// Drivetrain           drivetrain    1, 2
+// LiftMotor            motor         18
+// LiftMotor2           motor         12
+// TiltMotor            motor         3
+// Controller1          controller
+// IntakeR              motor         17
+// IntakeL              motor         8
+// ---- END VEXCODE CONFIGURED DEVICES ----
+
+#include "vex.h"
+#include <cstdio>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <string>
+
+
+using namespace vex;
+bool speedin = true;
+double driveMultiplier = 1.0;
+
+bool apressed = false;
+bool bpressed = false;
+// A global instance of competition
+competition Competition;
+
+motor LeftDriveSmart = motor(PORT1, ratio18_1, false);
+motor RightDriveSmart = motor(PORT2, ratio18_1, true);
+drivetrain Drivetrain =
+    drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295, 130, mm, 1);
+motor LiftMotor = motor(PORT18, ratio18_1, true);
+motor LiftMotor2 = motor(PORT12, ratio18_1, false);
+motor TiltMotor = motor(PORT3, ratio18_1, false);
+motor TiltMotor2 = motor(PORT10, ratio18_1, true);
+controller Controller1 = controller(primary);
+motor IntakeR = motor(PORT15, ratio18_1, false);
+motor IntakeL = motor(PORT8, ratio18_1, true);
+
+bool Controller1LeftShoulderControlMotorsStopped = true;
+bool Controller1RightShoulderControlMotorsStopped = true;
+bool Controller1UpDownButtonsControlMotorsStopped = true;
+bool DrivetrainLNeedsToBeStopped_Controller1 = true;
+bool DrivetrainRNeedsToBeStopped_Controller1 = true;
+bool IntakeStop = true;
+void controllerBaseInput();
+void STOPCODE_DEBUG();
+// define your global instances of motors and other devices here
+
+/*---------------------------------------------------------------------------*/
+/*                          Pre-Autonomous Functions                         */
+/*                                                                           */
+/*  You may want to perform some actions before the competition starts.      */
+/*  Do them in the following function.  You must return from this function   */
+/*  or the autonomous and usercontrol tasks will not be started.  This       */
+/*  function is only called once after the V5 has been powered on and        */
+/*  not every time that the robot is disabled.                               */
+/*---------------------------------------------------------------------------*/
+
+void pre_auton(void) {
+  // Initializing Robot Configuration. DO NOT REMOVE!
+  vexcodeInit();
+
+  // All activities that occur before the competition starts
+  // Example: clearing encoders, setting servo positions, ...
+}
+
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/*                              Autonomous Task                              */
+/*                                                                           */
+/*  This task is used to control your robot during the autonomous phase of   */
+/*  a VEX Competition.                                                       */
+/*                                                                           */
+/*  You must modify the code to add your own robot specific commands here.   */
+/*---------------------------------------------------------------------------*/
+std::ifstream ifs;
+void goToPos(motor m, double vel, double pos);
+void playback();
+int filenum = 1;
+std::string instructions;
+void autonomous(void) {
+  // ..........................................................................
+  // Insert autonomous user code here.
+  // ..........................................................................
+  /*STOPCODE_DEBUG();
+  LiftMotor.setVelocity(100, percent);
+  LiftMotor2.setVelocity(100, percent);
+  TiltMotor.setVelocity(30, percent);
+  //Drivetrain.driveFor(6, inches);*/
+  LiftMotor.resetRotation();
+  LiftMotor2.resetRotation();
+  TiltMotor.resetRotation();
+  IntakeL.resetRotation();
+  IntakeR.resetRotation();
+  LeftDriveSmart.resetRotation();
+  RightDriveSmart.resetRotation();
+
+  LiftMotor.setStopping(hold);
+  LiftMotor2.setStopping(hold);
+  // STOPCODE_DEBUG();
+  // uint8_t * instructions = nullptr;
+  // Brain.SDcard.loadfile("recording.bin", instructions, 2500); // size in
+  // bytes
+  char filename[1] = "";
+  snprintf(filename, 2, "%d", filenum);
+  std::string fn = filename;
+  fn += ".txt";
+  ifs.open(fn, std::ofstream::in);
+  Controller1.Screen.print("File opened");
+  timer tim;
+  tim.clear();
+  while (std::getline(ifs, instructions)) {
+    while (tim.value() < 0.075) {
+      wait(1, msec);
+    }
+    tim.clear();
+    playback();
+  }
+  ifs.close();
+  STOPCODE_DEBUG();
+  Drivetrain.setDriveVelocity(40, percent);
+  Drivetrain.setTurnVelocity(50, percent);
+  // Drivetrain.turnFor(5, degrees);
+  Drivetrain.driveFor(15, inches, false);
+  wait(2, sec);
+  Drivetrain.setDriveVelocity(80, percent);
+  Drivetrain.driveFor(reverse, 16, inches);
+  wait(1, sec);
+  // Drivetrain.turnFor(-45, degrees);
+  STOPCODE_DEBUG();
+  LiftMotor.startSpinTo(40 * 7, degrees); // unlock everything
+  LiftMotor2.startSpinTo(40 * 7, degrees);
+  waitUntil(LiftMotor.isDone() && LiftMotor2.isDone());
+  TiltMotor.startSpinTo(45 * 7, degrees);
+  LiftMotor.startSpinTo(10 * 7, degrees);
+  LiftMotor2.startSpinTo(10 * 7, degrees);
+  waitUntil(LiftMotor.isDone() && LiftMotor2.isDone() && TiltMotor.isDone());
+  IntakeL.setVelocity(100, percent);
+  IntakeR.setVelocity(100, percent);
+  IntakeL.startSpinTo(-5, rev);
+  IntakeR.startSpinTo(-5, rev);
+  TiltMotor.startSpinTo(5, degrees);
+  waitUntil(TiltMotor.isDone());
+  // STOPCODE_DEBUG();
+  STOPCODE_DEBUG();
+  IntakeL.setVelocity(100, percent);
+  IntakeR.setVelocity(100, percent);
+  // IntakeL.startSpinTo(5, rev); // grab preload
+  // IntakeR.startSpinTo(5, rev);
+  Drivetrain.setDriveVelocity(80, percent);
+  Drivetrain.setTurnVelocity(100, percent);
+
+  // Drivetrain.driveFor(24 * 3.5, inches); // drive to the row of 4 (if on that
+  // tile)
+  waitUntil(IntakeL.isDone() && IntakeR.isDone());
+  // Drivetrain.turnFor(-90, degrees); // turn LEFT
+  IntakeL.spin(forward);
+  IntakeR.spin(forward);
+  Drivetrain.setDriveVelocity(50, percent);
+  Drivetrain.driveFor(24 * 0.8, inches); // grab 4 cubes
+  wait(1000, msec);
+  IntakeL.stop(hold);
+  IntakeR.stop(hold); // hold the cubes
+  STOPCODE_DEBUG();
+  Drivetrain.driveFor(reverse, 24 * 1.6, inches); // go back
+  Drivetrain.setTurnVelocity(50, percent);
+  Drivetrain.turnFor(130, degrees); // turn RIGHT towards corner
+  Drivetrain.setDriveVelocity(33, percent);
+  Drivetrain.driveFor(24 * 0.8, inches); // go to corner
+  TiltMotor.spinTo(50 * 7, degrees);     // tilt cubes
+  IntakeL.setVelocity(20, percent);
+  IntakeR.setVelocity(20, percent);
+  IntakeL.startSpinFor(-3, rev);
+  IntakeR.startSpinFor(-3, rev); // start pushing out cubes
+  Drivetrain.setDriveVelocity(25, percent);
+  Drivetrain.driveFor(reverse, 24 * 0.8, inches); // back away slowly
+}
+void playback() {
+  int y = 0;
+  y = instructions.find(" ", 5);
+  double vel = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  y = instructions.find(" ", 5);
+  double pos = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  Controller1.Screen.print(vel);
+  
+  // LeftDriveSmart.setVelocity(vel, percent);
+  // LeftDriveSmart.startSpinTo(pos, degrees);
+
+  y = instructions.find(" ", 5);
+  double vel2 = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  y = instructions.find(" ", 5);
+  double pos2 = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  //Controller1.Screen.print(vel);
+  goToPos(LeftDriveSmart, vel, pos);
+  goToPos(RightDriveSmart, vel2, pos2);
+
+  y = instructions.find(" ", 5);
+  vel = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  IntakeL.spin(forward, vel, percent);
+  IntakeR.spin(forward, vel, percent);
+
+  y = instructions.find(" ", 5);
+  vel = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  y = instructions.find(" ", 5);
+  pos = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  goToPos(LiftMotor, vel, pos);
+  goToPos(LiftMotor2, vel, pos);
+  //LiftMotor2.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
+
+  y = instructions.find(" ", 5);
+  vel = strtod(instructions.substr(0, y).c_str(), NULL);
+  instructions = instructions.substr(y + 1);
+  y = instructions.find(" ", 5);
+  pos = strtod(instructions.substr(0, y).c_str(), NULL);
+  goToPos(TiltMotor, vel, pos);
+  goToPos(TiltMotor2, -vel, pos);
+  //TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
+  //wait(10, msec);
+}
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/*                              User Control Task                            */
+/*                                                                           */
+/*  This task is used to control your robot during the user control phase of */
+/*  a VEX Competition.                                                       */
+/*                                                                           */
+/*  You must modify the code to add your own robot specific commands here.   */
+/*---------------------------------------------------------------------------*/
+std::ofstream ofs;
+
+void usercontrol(void) {
+  Controller1.Screen.setCursor(4, 0);
+        // Controller1.Screen.clearLine();
+  Controller1.Screen.print(filenum);
+  LiftMotor.setVelocity(100, percent);
+  LiftMotor.stop();
+  LiftMotor2.setVelocity(100, percent);
+  LiftMotor2.stop();
+  TiltMotor.setVelocity(30, percent);
+  TiltMotor2.setVelocity(30, percent);
+  TiltMotor.stop();
+  TiltMotor2.stop();
+  LeftDriveSmart.stop();
+  RightDriveSmart.stop();
+  Controller1.Screen.clearScreen();
+  Controller1.Screen.setCursor(0, 0);
+  Controller1.Screen.clearLine();
+  Controller1.Screen.print("Normal Driving ");
+  bool recording = false;
+  bool donerecording = false;
+  timer tim2;
+  // User control code here, inside the loop
+  while (1) {
+    // This is the main execution loop for the user control program.
+    // Each time through the loop your program should update motor + servo
+    // values based on feedback from the joysticks.
+
+    // ........................................................................
+    // Insert user code here. This is where you use the joystick values to
+    // update your motors, etc.
+    // ........................................................................
+    if (Controller1.ButtonY.pressing()) {
+      speedin = false;
+      driveMultiplier = 0.33;
+      Controller1.Screen.setCursor(0, 0);
+      Controller1.Screen.clearLine();
+      Controller1.Screen.print("Precise Driving ");
+    } else if (Controller1.ButtonX.pressing()) {
+      speedin = true;
+      driveMultiplier = 1;
+      Controller1.Screen.setCursor(0, 0);
+      Controller1.Screen.clearLine();
+      Controller1.Screen.print("Normal Driving  ");
+    }
+    if (Controller1.ButtonA.pressing() && !apressed) {
+      speedin = !speedin;
+      apressed = true;
+    } else if (!Controller1.ButtonA.pressing())
+      apressed = false;
+
+    if (Controller1.ButtonB.pressing() && !bpressed) {
+      if (driveMultiplier == 1.0) {
+        driveMultiplier = 0.33;
+        Controller1.Screen.setCursor(0, 0);
+        // Controller1.Screen.clearLine();
+        Controller1.Screen.print("Precise Driving");
+      } else if (driveMultiplier == 0.33) {
+        driveMultiplier = 1;
+        Controller1.Screen.setCursor(0, 0);
+        // Controller1.Screen.clearLine();
+        Controller1.Screen.print("Normal Driving ");
+      }
+      bpressed = true;
+    } else if (!Controller1.ButtonB.pressing())
+      bpressed = false;
+    // uint8_t * data = (uint8_t*)malloc(sizeof(uint8_t) * 5);
+    if (Controller1.ButtonLeft.pressing() && !recording) {
+      recording = true;
+
+      LeftDriveSmart.resetRotation();
+      RightDriveSmart.resetRotation();
+      LiftMotor.resetRotation();
+      LiftMotor2.resetRotation();
+      TiltMotor.resetRotation();
+      TiltMotor2.resetRotation();
+      IntakeL.resetRotation();
+      IntakeR.resetRotation();
+      if (Brain.SDcard.isInserted()) {
+        // create a file with long filename
+        char filename[1] = "";
+        snprintf(filename, 2, "%d", filenum);
+        std::string fn = filename;
+        fn += ".txt";
+        ofs.open(fn, std::ofstream::out);
+      }
+      tim2.clear();
+    }
+    if (Controller1.ButtonRight.pressing()) {
+      donerecording = true;
+    }
+    if (Controller1.ButtonUp.pressing()) {
+      filenum ++;
+      Controller1.Screen.setCursor(4, 0);
+        // Controller1.Screen.clearLine();
+      Controller1.Screen.print(filenum);
+      wait(250, msec);
+    }
+    if (Controller1.ButtonDown.pressing()) {
+      filenum --;
+      Controller1.Screen.setCursor(4, 0);
+        // Controller1.Screen.clearLine();
+      Controller1.Screen.print(filenum);
+      wait(250, msec);
+    }
+    controllerBaseInput();
+    if (recording) {
+      while (tim2.value() < 0.075) {
+        wait(1, msec);
+      }
+      tim2.clear();
+      // count ++;
+      std::string thisReading = "";
+      char output[12];
+      snprintf(output, 12, "%f", LeftDriveSmart.velocity(percent));
+      thisReading += output;
+      thisReading += " ";
+      // output[12] = "";
+      snprintf(output, 12, "%f", LeftDriveSmart.rotation(degrees));
+      thisReading += output;
+      thisReading += " ";
+
+      // output[12] = "";
+      snprintf(output, 12, "%f", RightDriveSmart.velocity(percent));
+      thisReading += output;
+      thisReading += " ";
+      // output[12] = "";
+      snprintf(output, 12, "%f", RightDriveSmart.rotation(degrees));
+      thisReading += output;
+      thisReading += " ";
+
+      // char output[12];
+      snprintf(output, 12, "%f", IntakeL.velocity(percent));
+      thisReading += output;
+      thisReading += " ";
+
+      // output[12] = "";
+      snprintf(output, 12, "%f", LiftMotor.velocity(percent));
+      thisReading += output;
+      thisReading += " ";
+      // output[12] = "";
+      snprintf(output, 12, "%f", LiftMotor.rotation(degrees));
+      thisReading += output;
+      thisReading += " ";
+
+      // output[12] = "";
+      snprintf(output, 12, "%f", TiltMotor.velocity(percent));
+      thisReading += output;
+      thisReading += " ";
+      // output[12] = "";
+      snprintf(output, 12, "%f", TiltMotor.rotation(degrees));
+      thisReading += output;
+      thisReading += " \n";
+      ofs << thisReading;
+
+      // data = (uint8_t*)realloc(data, sizeof(uint8_t) * 5 * count + 5);
+      // uint8_t* thisReading;
+      // thisReading = new uint8_t[5];
+      /*thisReading = {(uint8_t) (LeftDriveSmart.velocity(percent)+100),
+                                (uint8_t)
+      (RightDriveSmart.velocity(percent)+100), (uint8_t)
+      (IntakeL.velocity(percent)+100), (uint8_t)
+      (LiftMotor.velocity(percent)+100), (uint8_t)
+      (TiltMotor.velocity(percent)+100)
+      };*/
+      //*(thisReading) = (uint8_t) (LeftDriveSmart.velocity(percent)+100);
+      //*(thisReading+1) = (uint8_t) (RightDriveSmart.velocity(percent)+100);
+      //*(thisReading+2) = (uint8_t) (IntakeL.velocity(percent)+100);
+      //*(thisReading+3) = (uint8_t) (LiftMotor.velocity(percent)+100);
+      //*(thisReading+4) = (uint8_t) (TiltMotor.velocity(percent)+100);
+      // int startIndex = count * 5;
+      // for(int i = 0; i < 5; i++) {
+      //  data[startIndex + i] = thisReading[i];
+      //}
+      if (donerecording) {
+        // Brain.SDcard.savefile("recording.bin", data, sizeof(data));
+        recording = false;
+        ofs.close();
+      }
+    } else {
+      wait(20, msec); // Sleep the task for a short amount of time to
+                      // prevent wasted resources.
+    }
+    // controllerBaseInput();
+  }
+}
+
+//
+// Main will set up the competition functions and callbacks.
+//
+int main() {
+  // Set up callbacks for autonomous and driver control periods.
+  Competition.autonomous(autonomous);
+  Competition.drivercontrol(usercontrol);
+
+  // Run the pre-autonomous function.
+  pre_auton();
+
+  // Prevent main from exiting with an infinite loop.
+  while (true) {
+    wait(100, msec);
+  }
+}
+void STOPCODE_DEBUG() {
+  Drivetrain.stop();
+  LiftMotor.stop();
+  LiftMotor2.stop();
+  IntakeR.stop();
+  IntakeL.stop();
+  TiltMotor.stop();
+  TiltMotor2.stop();
+  while (true)
+    wait(20, msec);
+}
+
+/*void goToPos(motor m, double vel, double pos) {
+  m.setVelocity(vel, percent);
+  if (true || pos > m.rotation(degrees)) {
+    if (vel > 0 && !m.isSpinning()) {
+      m.spin(forward);
+    }
+  } else {
+    m.stop();
+  }
+
+  if (true || pos < m.rotation(degrees)) {
+    if (vel < 0 && !m.isSpinning()) {
+      m.spin(forward);
+    }
+  } else {
+    m.stop();
+  }
+}*/
+void goToPos(motor m, double vel, double pos) {
+  m.setVelocity(vel, percent);
+  if (vel != 0 && !m.isSpinning()) {
+    m.spin(forward);
+  }
+}
+void controllerBaseInput() {
+
+  // int drivetrainLeftSideSpeed = Controller1.Axis3.position();
+  // int drivetrainRightSideSpeed = Controller1.Axis2.position();
+  double axisAngle =
+      atan2(Controller1.Axis3.position(), Controller1.Axis4.position());
+  axisAngle *= 180 / 3.1415926;
+
+  // if(Controller1.Axis4.position() < 0) axisAngle += 180;
+  // Controller1.Screen.setCursor(0, 50);
+  // Controller1.Screen.clearLine();
+  // Controller1.Screen.print(axisAngle);
+  int drivetrainLeftSideSpeed = Controller1.Axis3.position();
+  int drivetrainRightSideSpeed = Controller1.Axis4.position();
+  int powerLevel =
+      sqrt(Controller1.Axis3.position() * Controller1.Axis3.position() +
+           Controller1.Axis4.position() * Controller1.Axis4.position());
+  // left side
+  if (axisAngle < 90 && axisAngle >= 0)
+    drivetrainLeftSideSpeed = powerLevel;
+  else if (axisAngle <= 181 && axisAngle >= 90)
+    drivetrainLeftSideSpeed = int(powerLevel * (135 - axisAngle) / 45);
+  else if (axisAngle >= -181 && axisAngle <= -90)
+    drivetrainLeftSideSpeed = -powerLevel;
+  else if (axisAngle > -90 && axisAngle < 0)
+    drivetrainLeftSideSpeed = int(powerLevel * (45 + axisAngle) / 45);
+
+  if (axisAngle <= 181 && axisAngle >= 90)
+    drivetrainRightSideSpeed = powerLevel;
+  else if (axisAngle < 90 && axisAngle >= 0)
+    drivetrainRightSideSpeed = -int(powerLevel * (45 - axisAngle) / 45);
+  else if (axisAngle > -90 && axisAngle < 0)
+    drivetrainRightSideSpeed = -powerLevel;
+  else if (axisAngle >= -181 && axisAngle <= -90)
+    drivetrainRightSideSpeed = -int(powerLevel * (135 + axisAngle) / 45);
+
+  if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() > 0 &&
+      (int(axisAngle) == 90 || int(axisAngle) == 0)) {
+    drivetrainLeftSideSpeed = powerLevel;
+    drivetrainRightSideSpeed = powerLevel;
+  }
+  if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() < 0 &&
+      (int(axisAngle) == -90 || int(axisAngle) == 0)) {
+    drivetrainLeftSideSpeed = -powerLevel;
+    drivetrainRightSideSpeed = -powerLevel;
+  }
+  if (Controller1.Axis4.position() < 0 &&
+      (int(axisAngle) == 180 || int(axisAngle) == -180 ||
+       int(axisAngle) == 0)) {
+    drivetrainLeftSideSpeed = -powerLevel;
+    drivetrainRightSideSpeed = powerLevel;
+  }
+  int IntakeSpeed = Controller1.Axis2.position();
+  if (IntakeSpeed < 5 && IntakeSpeed > -5) {
+    // check if the left motor has already been stopped
+    if (IntakeStop) {
+      // stop the left drive motor
+      IntakeL.stop();
+      IntakeR.stop();
+      // tell the code that the left motor has been stopped
+      IntakeStop = false;
+    }
+  } else {
+    // reset the toggle so that the deadband code knows to stop the left motor
+    // next time the input is in the deadband range
+    IntakeStop = true;
+  }
+  // only tell the left drive motor to spin if the values are not in the
+  // deadband range
+  if (speedin) {
+    Controller1.Screen.setCursor(2, 0);
+    // Controller1.Screen.clearLine();
+    Controller1.Screen.print("Fast intake");
+    Controller1.Screen.setCursor(4, 0);
+    Controller1.Screen.print(filenum);
+  } else {
+    Controller1.Screen.setCursor(2, 0);
+    // Controller1.Screen.clearLine();
+    Controller1.Screen.print("Slow intake");
+    Controller1.Screen.setCursor(4, 0);
+    Controller1.Screen.print(filenum);
+    IntakeSpeed /= 4;
+  }
+
+  /*if (Controller1.ButtonDown.pressing()) {
+    drivetrainLeftSideSpeed = -20;
+    drivetrainRightSideSpeed = -20;
+    IntakeStop = true;
+    IntakeSpeed = -20;
+  } else if (Controller1.ButtonUp.pressing()) {
+    drivetrainLeftSideSpeed = 20;
+    drivetrainRightSideSpeed = 20;
+    IntakeStop = true;
+    IntakeSpeed = 20;
+  } else {*/
+    drivetrainLeftSideSpeed *= driveMultiplier;
+    drivetrainRightSideSpeed *= driveMultiplier;
+  //}
+  if (IntakeStop) {
+    IntakeL.setVelocity(IntakeSpeed, percent);
+    IntakeR.setVelocity(IntakeSpeed, percent);
+    IntakeL.spin(forward);
+    IntakeR.spin(forward);
+  }
+  // check if the value is inside of the deadband range
+  if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
+    // check if the left motor has already been stopped
+    if (DrivetrainLNeedsToBeStopped_Controller1) {
+      // stop the left drive motor
+      LeftDriveSmart.stop();
+      // tell the code that the left motor has been stopped
+      DrivetrainLNeedsToBeStopped_Controller1 = false;
+    }
+  } else {
+    // reset the toggle so that the deadband code knows to stop the left motor
+    // next time the input is in the deadband range
+    DrivetrainLNeedsToBeStopped_Controller1 = true;
+  }
+  // check if the value is inside of the deadband range
+  if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) {
+    // check if the right motor has already been stopped
+    if (DrivetrainRNeedsToBeStopped_Controller1) {
+      // stop the right drive motor
+      RightDriveSmart.stop();
+      // tell the code that the right motor has been stopped
+      DrivetrainRNeedsToBeStopped_Controller1 = false;
+    }
+  } else {
+    // reset the toggle so that the deadband code knows to stop the right motor
+    // next time the input is in the deadband range
+    DrivetrainRNeedsToBeStopped_Controller1 = true;
+  }
+  // only tell the left drive motor to spin if the values are not in the
+  // deadband range
+  if (DrivetrainLNeedsToBeStopped_Controller1) {
+    LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);
+    LeftDriveSmart.spin(forward);
+  }
+  // only tell the right drive motor to spin if the values are not in the
+  // deadband range
+  if (DrivetrainRNeedsToBeStopped_Controller1) {
+    RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);
+    RightDriveSmart.spin(forward);
+  }
+  // check the ButtonL1/ButtonL2 status to control LiftMotor
+  if (Controller1.ButtonL1.pressing()) {
+    LiftMotor.spin(forward);
+    LiftMotor2.spin(forward);
+    Controller1LeftShoulderControlMotorsStopped = false;
+  } else if (Controller1.ButtonL2.pressing()) {
+    LiftMotor.spin(reverse);
+    LiftMotor2.spin(reverse);
+    Controller1LeftShoulderControlMotorsStopped = false;
+  } else if (!Controller1LeftShoulderControlMotorsStopped) {
+    LiftMotor.stop(hold);
+    LiftMotor2.stop(hold);
+    // set the toggle so that we don't constantly tell the motor to stop when
+    // the buttons are released
+    Controller1LeftShoulderControlMotorsStopped = true;
+  }
+
+  // only tell the right drive motor to spin if the values are not in the
+  // deadband range
+
+  // check the ButtonR1/ButtonR2 status to control Intake
+  /*if (Controller1.ButtonR1.pressing()) {
+    IntakeR.spin(forward);
+    IntakeL.spin(forward);
+    Controller1RightShoulderControlMotorsStopped = false;
+  } else if (Controller1.ButtonR2.pressing()) {
+    IntakeR.spin(reverse);
+    IntakeL.spin(reverse);
+    Controller1RightShoulderControlMotorsStopped = false;
+  } else if (!Controller1RightShoulderControlMotorsStopped) {
+    IntakeR.stop(hold);
+    IntakeL.stop(hold);
+    // set the toggle so that we don't constantly tell the motor to stop when
+  the buttons are released Controller1RightShoulderControlMotorsStopped = true;
+  }*/
+  // check the Right Shoulder Buttons status to control TiltMotor
+  if (Controller1.ButtonR1.pressing()) {
+    TiltMotor.spin(forward);
+    TiltMotor2.spin(forward);
+    Controller1UpDownButtonsControlMotorsStopped = false;
+  } else if (Controller1.ButtonR2.pressing()) {
+    TiltMotor.spin(reverse);
+    TiltMotor2.spin(reverse);
+    Controller1UpDownButtonsControlMotorsStopped = false;
+  } else if (!Controller1UpDownButtonsControlMotorsStopped) {
+    TiltMotor.stop(hold);
+    TiltMotor.stop(hold);
+    // set the toggle so that we don't constantly tell the motor to stop when
+    // the buttons are released
+    Controller1UpDownButtonsControlMotorsStopped = true;
+  }
+}