From c05b9462ad79f6eb46c7e3276f7092afa76c31ca Mon Sep 17 00:00:00 2001
From: Cole Deck <cd109876@gmail.com>
Date: Thu, 27 Feb 2020 12:19:58 -0600
Subject: [PATCH] Initial commit

---
 38535A-4.v5code          |    1 +
 build/38535A4.bin        |  Bin 0 -> 21180 bytes
 build/38535A4.elf        |  Bin 0 -> 268852 bytes
 build/38535A4.map        | 3608 ++++++++++++++++++++++++++++++++++++++
 build/src/main.o         |  Bin 0 -> 21084 bytes
 build/src/robot-config.o |  Bin 0 -> 2268 bytes
 compile_commands.json    |    1 +
 include/robot-config.h   |   19 +
 include/vex.h            |   26 +
 makefile                 |   30 +
 src/main.cpp             |  562 ++++++
 src/robot-config.cpp     |   37 +
 vex/mkenv.mk             |  101 ++
 vex/mkrules.mk           |   32 +
 14 files changed, 4417 insertions(+)
 create mode 100644 38535A-4.v5code
 create mode 100644 build/38535A4.bin
 create mode 100644 build/38535A4.elf
 create mode 100644 build/38535A4.map
 create mode 100644 build/src/main.o
 create mode 100644 build/src/robot-config.o
 create mode 100644 compile_commands.json
 create mode 100644 include/robot-config.h
 create mode 100644 include/vex.h
 create mode 100644 makefile
 create mode 100644 src/main.cpp
 create mode 100644 src/robot-config.cpp
 create mode 100644 vex/mkenv.mk
 create mode 100644 vex/mkrules.mk

diff --git a/38535A-4.v5code b/38535A-4.v5code
new file mode 100644
index 0000000..e294d85
--- /dev/null
+++ b/38535A-4.v5code
@@ -0,0 +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
diff --git a/build/38535A4.bin b/build/38535A4.bin
new file mode 100644
index 0000000000000000000000000000000000000000..5e3e342c82e7915c4d6426278c565afde1a60fbb
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diff --git a/build/38535A4.map b/build/38535A4.map
new file mode 100644
index 0000000..c5561ed
--- /dev/null
+++ b/build/38535A4.map
@@ -0,0 +1,3608 @@
+Archive member included because of file (symbol)
+
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+                              (vexStartup)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) (vexStdlibVersionLinked)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) (vexPrivateApiEnable)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) (vexSystemVersion)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
+                              build/src/main.o (vex::wait(double, vex::timeUnits))
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                              build/src/main.o (vex::motor::~motor())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                              build/src/main.o (vex::controller::~controller())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+                              build/src/robot-config.o (vex::task::task(int (*)()))
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_thread.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) (vex::this_thread::sleep_for(unsigned long))
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_event.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) (vex::event::init(unsigned long, unsigned long, void (*)()))
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_mevent.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) (vex::mevent::mevent(unsigned long, unsigned long))
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                              build/src/robot-config.o (vex::brain::brain())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                              build/src/main.o (vex::competition::competition())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj) (vex::triport::~triport())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj) (vex::color::operator unsigned long() const)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj) (vex::timer::~timer())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                              build/src/main.o (vex::drivetrain::~drivetrain())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) (vexAdiPortConfigSet)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) (vex::device::~device())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) (vex::motor_group::motor_group())
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-fini.o)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) (__libc_fini_array)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) (_impure_ptr)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-init.o)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) (__libc_init_array)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-memcpy.o)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) (memcpy)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-snprintf.o)
+                              build/src/main.o (snprintf)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-tolower.o)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj) (tolower)
+C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-ctype_.o)
+                              C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-tolower.o) (__ctype_ptr__)
+
+Allocating common symbols
+Common symbol       size              file
+
+__bss_end           0x4               C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+__vex_critical_section
+                    0x1               C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+__sbss_start        0x4               C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+__bss_start         0x4               C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+__stack             0x4               C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+__sbss_end          0x4               C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+
+Discarded input sections
+
+ .text          0x00000000        0x0 build/src/main.o
+ .text._Z9pre_autonv
+                0x00000000        0x4 build/src/main.o
+ .ARM.exidx.text._Z9pre_autonv
+                0x00000000        0x8 build/src/main.o
+ .data.Controller1RightShoulderControlMotorsStopped
+                0x00000000        0x1 build/src/main.o
+ .llvm_addrsig  0x00000000       0x15 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)
+ .data          0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .bss           0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.__cyg_profile_func_enter
+                0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.__cyg_profile_func_exit
+                0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text._sbrk    0x00000000       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text._exit    0x00000000       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.kill     0x00000000       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text._kill    0x00000000       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.getpid   0x00000000        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text._getpid  0x00000000        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.__cxa_atexit
+                0x00000000        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.__cxa_guard_acquire
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.__cxa_guard_release
+                0x00000000        0xc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.__cxa_guard_abort
+                0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text.__cxa_pure_virtual
+                0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .bss.heap.8017
+                0x00000000        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+ .text          0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+ .data          0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+ .bss           0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+ .text          0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .data          0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .bss           0x00000000        0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexPrivateApiDisable
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexIntegrityCheck
+                0x00000000       0x4c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexGzipInflateBuffer
+                0x00000000       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexGzipInflateBufferRaw
+                0x00000000       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexSystemFwUpdateRequest
+                0x00000000       0x4c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexScratchMemoryPtr
+                0x00000000       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskAddWithPriority
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskAddSimple
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskAddSimpleWithPriority
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskStop
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskSuspend
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskResume
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskSuspendCurrent
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskResumeCurrent
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskProgramSuspend
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskProgramResume
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskPriorityGet
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskPrioritySet
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskGetIndex
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexSemaphoreInit
+                0x00000000       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexSemaphoreLock
+                0x00000000       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexSemaphoreUnlock
+                0x00000000       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexSemaphoreGetOwner
+                0x00000000       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskGetCallback
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskWaitForExit
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskStateGet
+                0x00000000       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskStopAllUser
+                0x00000000       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .text.vexTaskHardwareConcurrency
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+ .text.vexDeviceSonarValueGet
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+ .text.vexDeviceGenericValueGet
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+ .text.vexDeviceMotorTemperatureGet
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+ .text.vexDeviceMotorOverTempFlagGet
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+ .text.vexDeviceMotorFaultsGet
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+ .text.vexDeviceMotorZeroVelocityFlagGet
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+ .text.vexDeviceMotorFlagsGet
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+ .text.vexDeviceMotorReverseFlagGet
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+ .text.vexDeviceMotorEncoderUnitsGet
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+ .text.vexDeviceMotorBrakeModeGet
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+ .text.vexDeviceVisionWifiModeSet
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+                0x038020bc                vexTaskStopAll
+ .text.vexTaskRemoveAllUser
+                0x038020cc       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038020cc                vexTaskRemoveAllUser
+ .text.vexTaskCompletionIdSet
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+                0x03802100                vexTaskCompletionIdSet
+ .text.vexTaskStopWithId
+                0x03802110       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802110                vexTaskStopWithId
+ .text.vexCriticalSection
+                0x03802120       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802120                vexCriticalSection
+ .text.vexEventAdd
+                0x0380214c       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x0380214c                vexEventAdd
+ .text.vexEventUserIndexGet
+                0x03802180       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802180                vexEventUserIndexGet
+ .text.vexEventAddWithArg
+                0x0380219c       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x0380219c                vexEventAddWithArg
+ .text.vexEventsCleanup
+                0x038021d8       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038021d8                vexEventsCleanup
+ .text.vexDebug
+                0x03802204       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802204                vexDebug
+ .text.vex_sprintf
+                0x0380223c       0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x0380223c                vex_sprintf
+ .text.vex_vsnprintf
+                0x0380227c       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x0380227c                vex_vsnprintf
+ .text.vexSystemTimeGet
+                0x038022b8       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038022b8                vexSystemTimeGet
+ .text.vexSystemExitRequest
+                0x038022d4       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038022d4                vexSystemExitRequest
+ .text.vexDeviceGetByIndex
+                0x038022f0       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038022f0                vexDeviceGetByIndex
+ .text.vexControllerGet
+                0x03802314       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802314                vexControllerGet
+ .text.vexControllerTextSet
+                0x03802340       0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802340                vexControllerTextSet
+ .text.vexDeviceMotorVelocitySet
+                0x038023b4       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038023b4                vexDeviceMotorVelocitySet
+ .text.vexDeviceMotorActualVelocityGet
+                0x038023e0       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038023e0                vexDeviceMotorActualVelocityGet
+ .text.vexDeviceMotorZeroPositionFlagGet
+                0x03802404       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802404                vexDeviceMotorZeroPositionFlagGet
+ .text.vexDeviceMotorReverseFlagSet
+                0x03802428       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802428                vexDeviceMotorReverseFlagSet
+ .text.vexDeviceMotorEncoderUnitsSet
+                0x03802454       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802454                vexDeviceMotorEncoderUnitsSet
+ .text.vexDeviceMotorBrakeModeSet
+                0x03802480       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802480                vexDeviceMotorBrakeModeSet
+ .text.vexDeviceMotorPositionSet
+                0x038024ac       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038024ac                vexDeviceMotorPositionSet
+ .text.vexDeviceMotorPositionGet
+                0x038024e0       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038024e0                vexDeviceMotorPositionGet
+ .text.vexDeviceMotorAbsoluteTargetSet
+                0x03802504       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802504                vexDeviceMotorAbsoluteTargetSet
+ .text.vexDeviceMotorRelativeTargetSet
+                0x03802540       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802540                vexDeviceMotorRelativeTargetSet
+ .text.vexDeviceMotorGearingSet
+                0x0380257c       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x0380257c                vexDeviceMotorGearingSet
+ .text.vexDeviceMotorGearingGet
+                0x038025a8       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038025a8                vexDeviceMotorGearingGet
+ .text.vexDisplayForegroundColor
+                0x038025cc       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038025cc                vexDisplayForegroundColor
+ .text.vexDisplayBackgroundColor
+                0x038025f0       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038025f0                vexDisplayBackgroundColor
+ .text.vexDisplayTextReference
+                0x03802614       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802614                vexDisplayTextReference
+ .text.vexDisplayTextSize
+                0x03802638       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802638                vexDisplayTextSize
+ .text.vexDisplayFontNamedSet
+                0x03802664       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802664                vexDisplayFontNamedSet
+ .text.vexFileDriveStatus
+                0x03802688       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802688                vexFileDriveStatus
+ .text.vexSystemStdlibImpureDataAddr
+                0x038026ac       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038026ac                vexSystemStdlibImpureDataAddr
+ .text.vexSystemStdlibImpureDataSize
+                0x038026d4       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038026d4                vexSystemStdlibImpureDataSize
+ .text.vexSystemSaveUserData
+                0x038026fc       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038026fc                vexSystemSaveUserData
+ .text.vexDisplayThemeIdGet
+                0x03802738       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802738                vexDisplayThemeIdGet
+ .text.vexDeviceEventMaskSet
+                0x03802770       0x48 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x03802770                vexDeviceEventMaskSet
+ .text.vexDeviceEventMaskGet
+                0x038027b8       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+                0x038027b8                vexDeviceEventMaskGet
+ .text.vexSystemVersion
+                0x038027f4       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj)
+                0x038027f4                vexSystemVersion
+ .text.vexStdlibVersion
+                0x03802804       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj)
+                0x03802804                vexStdlibVersion
+ *fill*         0x03802814        0x4 
+ .text._ZN3vex4waitEdNS_9timeUnitsE
+                0x03802818       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
+                0x03802818                vex::wait(double, vex::timeUnits)
+ .text._ZN3vex5motorD2Ev
+                0x03802848       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802848                vex::motor::~motor()
+                0x03802848                vex::motor::~motor()
+ .text._ZN3vex5motorD0Ev
+                0x03802868       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802868                vex::motor::~motor()
+ .text._ZN3vex5motor9installedEv
+                0x03802884       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802884                vex::motor::installed()
+ .text._ZN3vex5motor15defaultStoppingENS_9brakeTypeE
+                0x0380289c       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x0380289c                vex::motor::defaultStopping(vex::brakeType)
+ .text._ZN3vex5motor11setStoppingENS_9brakeTypeE
+                0x038028cc        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x038028cc                vex::motor::setStopping(vex::brakeType)
+ .text._ZN3vex5motorC2El
+                0x038028d0       0x78 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x038028d0                vex::motor::motor(long)
+                0x038028d0                vex::motor::motor(long)
+ .text._ZN3vex5motorC2ElNS_11gearSettingEb
+                0x03802948       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802948                vex::motor::motor(long, vex::gearSetting, bool)
+                0x03802948                vex::motor::motor(long, vex::gearSetting, bool)
+ .text._ZN3vex5motor10isSpinningEv
+                0x0380297c       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x0380297c                vex::motor::isSpinning()
+ .text._ZN3vex5motor4stopENS_9brakeTypeE
+                0x038029b4       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x038029b4                vex::motor::stop(vex::brakeType)
+ .text._ZN3vex5motor4stopEv
+                0x038029e4        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x038029e4                vex::motor::stop()
+ .text._ZN3vex5motor16velocityToScaledEdNS_13velocityUnitsE
+                0x038029ec       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x038029ec                vex::motor::velocityToScaled(double, vex::velocityUnits)
+ .text._ZN3vex5motor8velocityENS_13velocityUnitsE
+                0x03802a48       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802a48                vex::motor::velocity(vex::velocityUnits)
+ .text._ZN3vex5motor5valueEv
+                0x03802a78       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802a78                vex::motor::value()
+ .text._ZN3vex5motor16scaledToVelocityEdNS_13velocityUnitsE
+                0x03802a94       0xa4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802a94                vex::motor::scaledToVelocity(double, vex::velocityUnits)
+ .text._ZN3vex5motor4spinENS_13directionTypeEdNS_13velocityUnitsE
+                0x03802b38       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802b38                vex::motor::spin(vex::directionType, double, vex::velocityUnits)
+ .text._ZN3vex5motor4spinENS_13directionTypeE
+                0x03802b94       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802b94                vex::motor::spin(vex::directionType)
+ .text._ZN3vex5motor11setVelocityEdNS_13velocityUnitsE
+                0x03802bbc       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802bbc                vex::motor::setVelocity(double, vex::velocityUnits)
+ .text._ZN3vex5motor16setRotationUnitsENS_13rotationUnitsE
+                0x03802c10       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802c10                vex::motor::setRotationUnits(vex::rotationUnits)
+ .text._ZN3vex5motor11setRotationEdNS_13rotationUnitsE
+                0x03802c2c       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802c2c                vex::motor::setRotation(double, vex::rotationUnits)
+ .text._ZN3vex5motor13resetRotationEv
+                0x03802c70       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802c70                vex::motor::resetRotation()
+ .text._ZN3vex5motor8rotateToEdNS_13rotationUnitsEdNS_13velocityUnitsEb
+                0x03802c90       0xc4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802c90                vex::motor::rotateTo(double, vex::rotationUnits, double, vex::velocityUnits, bool)
+ .text._ZN3vex5motor9rotateForEdNS_13rotationUnitsEdNS_13velocityUnitsEb
+                0x03802d54       0xe0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802d54                vex::motor::rotateFor(double, vex::rotationUnits, double, vex::velocityUnits, bool)
+ .text._ZN3vex5motor9rotateForENS_13directionTypeEdNS_13rotationUnitsEdNS_13velocityUnitsEb
+                0x03802e34       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802e34                vex::motor::rotateFor(vex::directionType, double, vex::rotationUnits, double, vex::velocityUnits, bool)
+ .text._ZN3vex5motor8rotationENS_13rotationUnitsE
+                0x03802e68       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+                0x03802e68                vex::motor::rotation(vex::rotationUnits)
+ .text._ZN3vex10controllerD2Ev
+                0x03802eac        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03802eac                vex::controller::~controller()
+                0x03802eac                vex::controller::~controller()
+ .text._ZN3vex10controller5valueE19_V5_ControllerIndex
+                0x03802eb0        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03802eb0                vex::controller::value(_V5_ControllerIndex)
+ .text._ZN3vex10controller6button8pressingEv
+                0x03802eb8       0xc8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03802eb8                vex::controller::button::pressing()
+ .text._ZN3vex10controller6button21_buttonToPressedEventEv
+                0x03802f80       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03802f80                vex::controller::button::_buttonToPressedEvent()
+ .text._ZN3vex10controller6button22_buttonToReleasedEventEv
+                0x03802fa0       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03802fa0                vex::controller::button::_buttonToReleasedEvent()
+ .text._ZN3vex10controller6buttonC2ENS0_11tButtonTypeEPS0_
+                0x03802fc0       0x48 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03802fc0                vex::controller::button::button(vex::controller::tButtonType, vex::controller*)
+                0x03802fc0                vex::controller::button::button(vex::controller::tButtonType, vex::controller*)
+ .text._ZN3vex10controller4axis5valueEv
+                0x03803008       0x58 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03803008                vex::controller::axis::value()
+ .text._ZN3vex10controller4axis8positionENS_12percentUnitsE
+                0x03803060       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03803060                vex::controller::axis::position(vex::percentUnits)
+ .text._ZN3vex10controller4axis23_joystickToChangedEventEv
+                0x0380307c       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x0380307c                vex::controller::axis::_joystickToChangedEvent()
+ .text._ZN3vex10controller4axisC2ENS0_9tAxisTypeEPS0_
+                0x0380309c       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x0380309c                vex::controller::axis::axis(vex::controller::tAxisType, vex::controller*)
+                0x0380309c                vex::controller::axis::axis(vex::controller::tAxisType, vex::controller*)
+ .text._ZN3vex10controllerC2ENS_14controllerTypeE
+                0x038030c8      0x204 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x038030c8                vex::controller::controller(vex::controllerType)
+                0x038030c8                vex::controller::controller(vex::controllerType)
+ .text._ZN3vex10controller3lcd15getControllerIdEv
+                0x038032cc       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x038032cc                vex::controller::lcd::getControllerId()
+ .text._ZN3vex10controller3lcd9setCursorEll
+                0x038032dc       0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x038032dc                vex::controller::lcd::setCursor(long, long)
+ .text._ZN3vex10controller3lcd5printEPKcz
+                0x0380331c       0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x0380331c                vex::controller::lcd::print(char const*, ...)
+ .text._ZN3vex10controller3lcd9clearLineEi
+                0x03803390       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03803390                vex::controller::lcd::clearLine(int)
+ .text._ZN3vex10controller3lcd11clearScreenEv
+                0x038033d4       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x038033d4                vex::controller::lcd::clearScreen()
+ .text._ZN3vex10controller3lcd9clearLineEv
+                0x03803430        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+                0x03803430                vex::controller::lcd::clearLine()
+ .text._ZN3vex4taskC2EPFivE
+                0x03803438       0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+                0x03803438                vex::task::task(int (*)())
+                0x03803438                vex::task::task(int (*)())
+ .text._ZN3vex4taskD2Ev
+                0x03803494        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+                0x03803494                vex::task::~task()
+                0x03803494                vex::task::~task()
+ .text._ZN3vex4task4stopERKS0_
+                0x03803498       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+                0x03803498                vex::task::stop(vex::task const&)
+ .text._ZN3vex4task6_indexEPFivE
+                0x038034b0       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+                0x038034b0                vex::task::_index(int (*)())
+ .text._ZN3vex4task8_stopAllEv
+                0x038034c4       0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+                0x038034c4                vex::task::_stopAll()
+ .text._ZN3vex11this_thread9sleep_forEm
+                0x03803500        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_thread.cpp.obj)
+                0x03803500                vex::this_thread::sleep_for(unsigned long)
+ .text._ZN3vex5event4initEmmPFvvE
+                0x03803504        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_event.cpp.obj)
+                0x03803504                vex::event::init(unsigned long, unsigned long, void (*)())
+ .text._ZN3vex5event4initEmmPFvPvES1_
+                0x03803508        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_event.cpp.obj)
+                0x03803508                vex::event::init(unsigned long, unsigned long, void (*)(void*), void*)
+ .text._ZN3vex5event9userindexEv
+                0x0380350c        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_event.cpp.obj)
+                0x0380350c                vex::event::userindex()
+ .text._ZZN3vex6meventC4EmmENUlvE_4_FUNEv
+                0x03803510        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_mevent.cpp.obj)
+ .text._ZN3vex6meventC2Emm
+                0x03803514       0x70 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_mevent.cpp.obj)
+                0x03803514                vex::mevent::mevent(unsigned long, unsigned long)
+                0x03803514                vex::mevent::mevent(unsigned long, unsigned long)
+ .text._ZN3vex5brain9_getIndexEv
+                0x03803584       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x03803584                vex::brain::_getIndex()
+ .text._ZN3vex5brain3lcd9setCursorEll
+                0x03803594       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x03803594                vex::brain::lcd::setCursor(long, long)
+ .text._ZN3vex5brain3lcd7setFontENS_8fontTypeE
+                0x038035d8      0x23c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x038035d8                vex::brain::lcd::setFont(vex::fontType)
+ .text._ZN3vex5brain3lcdC2Ev
+                0x03803814       0x94 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x03803814                vex::brain::lcd::lcd()
+                0x03803814                vex::brain::lcd::lcd()
+ .text._ZN3vex5brainC2Ev
+                0x038038a8       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x038038a8                vex::brain::brain()
+                0x038038a8                vex::brain::brain()
+ .text._ZN3vex5brain6sdcard10isInsertedEv
+                0x038038e0        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x038038e0                vex::brain::sdcard::isInserted()
+ .text._ZN3vex5brainD2Ev
+                0x038038e8       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+                0x038038e8                vex::brain::~brain()
+                0x038038e8                vex::brain::~brain()
+ .text._ZN3vex11competition11_autonomousEv
+                0x03803908       0x90 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03803908                vex::competition::_autonomous()
+ .text._ZN3vex11competition14_drivercontrolEv
+                0x03803998       0x90 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03803998                vex::competition::_drivercontrol()
+ .text._ZN3vex11competition8_disableEPv
+                0x03803a28       0xc8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03803a28                vex::competition::_disable(void*)
+ .text._ZN3vex11competitionC2Ev
+                0x03803af0      0x13c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03803af0                vex::competition::competition()
+                0x03803af0                vex::competition::competition()
+ .text._ZN3vex11competitionD2Ev
+                0x03803c2c        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03803c2c                vex::competition::~competition()
+                0x03803c2c                vex::competition::~competition()
+ .text._ZN3vex11competition10autonomousEPFvvE
+                0x03803c30       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03803c30                vex::competition::autonomous(void (*)())
+ .text._ZN3vex11competition13drivercontrolEPFvvE
+                0x03803c74       0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03803c74                vex::competition::drivercontrol(void (*)())
+ .text._ZN3vex7triportD2Ev
+                0x03803cb8       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x03803cb8                vex::triport::~triport()
+                0x03803cb8                vex::triport::~triport()
+ .text._ZN3vex7triportD0Ev
+                0x03803cf0       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x03803cf0                vex::triport::~triport()
+ .text._ZN3vex7triport9installedEv
+                0x03803d0c       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x03803d0c                vex::triport::installed()
+ .text._ZN3vex7triport4portC2ElPS0_
+                0x03803d24       0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x03803d24                vex::triport::port::port(long, vex::triport*)
+                0x03803d24                vex::triport::port::port(long, vex::triport*)
+ .text._ZN3vex7triportC2El
+                0x03803d98       0xf0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+                0x03803d98                vex::triport::triport(long)
+                0x03803d98                vex::triport::triport(long)
+ .text.startup._GLOBAL__sub_I__ZN3vex7triportC2El
+                0x03803e88       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+ .text._ZN3vex5colorD2Ev
+                0x03803eb8        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03803eb8                vex::color::~color()
+                0x03803eb8                vex::color::~color()
+ .text.startup._GLOBAL__sub_I__ZN3vex5color5blackE
+                0x03803ebc      0x164 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+ .text._ZN3vex5timerD2Ev
+                0x03804020        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804020                vex::timer::~timer()
+                0x03804020                vex::timer::~timer()
+ .text._ZN3vex5timer5clearEv
+                0x03804024       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804024                vex::timer::clear()
+ .text._ZN3vex5timerC2Ev
+                0x03804040       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+                0x03804040                vex::timer::timer()
+                0x03804040                vex::timer::timer()
+ .text._ZN3vex10drivetrainD2Ev
+                0x03804054       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804054                vex::drivetrain::~drivetrain()
+                0x03804054                vex::drivetrain::~drivetrain()
+ .text._ZN3vex10drivetrainD0Ev
+                0x0380407c       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x0380407c                vex::drivetrain::~drivetrain()
+ .text._ZN3vex10drivetrain8isMovingEv
+                0x03804098       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804098                vex::drivetrain::isMoving()
+ .text._ZN3vex10drivetrain16setDriveVelocityEdNS_13velocityUnitsE
+                0x038040bc       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038040bc                vex::drivetrain::setDriveVelocity(double, vex::velocityUnits)
+ .text._ZN3vex10drivetrain12setGearRatioEd
+                0x03804110       0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804110                vex::drivetrain::setGearRatio(double)
+ .text._ZN3vex10drivetrain4turnENS_8turnTypeE
+                0x03804164       0x50 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804164                vex::drivetrain::turn(vex::turnType)
+ .text._ZN3vex10drivetrain15setTurnVelocityEdNS_13velocityUnitsE
+                0x038041b4       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038041b4                vex::drivetrain::setTurnVelocity(double, vex::velocityUnits)
+ .text._ZN3vex10drivetrain6isDoneEv
+                0x038041dc       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038041dc                vex::drivetrain::isDone()
+ .text._ZN3vex10drivetrain4stopEv
+                0x038041f0       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038041f0                vex::drivetrain::stop()
+ .text._ZN3vex10drivetrain21_waitForCompletionAllEv
+                0x03804214       0x60 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804214                vex::drivetrain::_waitForCompletionAll()
+ *fill*         0x03804274        0x4 
+ .text._ZN3vex10drivetrain12distanceToMmEdNS_13distanceUnitsE
+                0x03804278       0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804278                vex::drivetrain::distanceToMm(double, vex::distanceUnits)
+ .text._ZN3vex10drivetrainC2ERNS_5motorES2_dddNS_13distanceUnitsEd
+                0x038042b0      0x118 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038042b0                vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double)
+                0x038042b0                vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double)
+ .text._ZN3vex10drivetrain12_angleToRevsEdNS_13rotationUnitsE
+                0x038043c8       0xc0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x038043c8                vex::drivetrain::_angleToRevs(double, vex::rotationUnits)
+ .text._ZN3vex10drivetrain7turnForENS_8turnTypeEdNS_13rotationUnitsEb
+                0x03804488       0xbc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804488                vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, bool)
+ .text._ZN3vex10drivetrain7turnForEdNS_13rotationUnitsEb
+                0x03804544       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804544                vex::drivetrain::turnFor(double, vex::rotationUnits, bool)
+ .text._ZN3vex10drivetrain7turnForENS_8turnTypeEdNS_13rotationUnitsEdNS_13velocityUnitsEb
+                0x03804554       0xd0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804554                vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, double, vex::velocityUnits, bool)
+ .text._ZN3vex10drivetrain7turnForEdNS_13rotationUnitsEdNS_13velocityUnitsEb
+                0x03804624       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+                0x03804624                vex::drivetrain::turnFor(double, vex::rotationUnits, double, vex::velocityUnits, bool)
+ .text.vexMotorVelocitySet
+                0x0380463c       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x0380463c                vexMotorVelocitySet
+ .text.vexMotorActualVelocityGet
+                0x0380465c       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x0380465c                vexMotorActualVelocityGet
+ .text.vexMotorZeroPositionFlagGet
+                0x03804680       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804680                vexMotorZeroPositionFlagGet
+ .text.vexMotorReverseFlagSet
+                0x03804698       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804698                vexMotorReverseFlagSet
+ .text.vexMotorEncoderUnitsSet
+                0x038046b8       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x038046b8                vexMotorEncoderUnitsSet
+ .text.vexMotorBrakeModeSet
+                0x038046d8       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x038046d8                vexMotorBrakeModeSet
+ .text.vexMotorPositionSet
+                0x038046f8       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x038046f8                vexMotorPositionSet
+ .text.vexMotorPositionGet
+                0x03804720       0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804720                vexMotorPositionGet
+ .text.vexMotorAbsoluteTargetSet
+                0x03804744       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804744                vexMotorAbsoluteTargetSet
+ .text.vexMotorRelativeTargetSet
+                0x03804774       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804774                vexMotorRelativeTargetSet
+ .text.vexMotorGearingSet
+                0x038047a4       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x038047a4                vexMotorGearingSet
+ .text.vexMotorGearingGet
+                0x038047c4       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x038047c4                vexMotorGearingGet
+ .text.vexEventMaskSet
+                0x038047dc       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x038047dc                vexEventMaskSet
+ .text.vexEventMaskGet
+                0x03804804       0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+                0x03804804                vexEventMaskGet
+ .text._ZN3vex6deviceD2Ev
+                0x0380481c        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x0380481c                vex::device::~device()
+                0x0380481c                vex::device::~device()
+ .text._ZN3vex6device5valueEv
+                0x03804820        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x03804820                vex::device::value()
+ .text._ZN3vex6deviceD0Ev
+                0x03804828       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x03804828                vex::device::~device()
+ .text._ZN3vex6device4initEl
+                0x0380483c       0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x0380483c                vex::device::init(long)
+ .text._ZN3vex6deviceC2El
+                0x0380486c       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x0380486c                vex::device::device(long)
+                0x0380486c                vex::device::device(long)
+ .text._ZN3vex6device4typeEv
+                0x0380488c       0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x0380488c                vex::device::type()
+ .text._ZN3vex6device9installedEv
+                0x0380489c       0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+                0x0380489c                vex::device::installed()
+ .text._ZN3vex11motor_group18motor_group_motorsC2Ev
+                0x038048b0       0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+                0x038048b0                vex::motor_group::motor_group_motors::motor_group_motors()
+                0x038048b0                vex::motor_group::motor_group_motors::motor_group_motors()
+ .text._ZN3vex11motor_groupC2Ev
+                0x038048d8       0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+                0x038048d8                vex::motor_group::motor_group()
+                0x038048d8                vex::motor_group::motor_group()
+ .text._ZN3vex11motor_groupD2Ev
+                0x038048f4        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+                0x038048f4                vex::motor_group::~motor_group()
+                0x038048f4                vex::motor_group::~motor_group()
+ .text._ZN3vex11motor_group9_addMotorEv
+                0x038048f8        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+                0x038048f8                vex::motor_group::_addMotor()
+ .text._ZN3vex11motor_group9_addMotorERNS_5motorE
+                0x038048fc       0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+                0x038048fc                vex::motor_group::_addMotor(vex::motor&)
+ .text._ZN3vex11motor_group11setVelocityEdNS_13velocityUnitsE
+                0x0380491c       0x4c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
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+ .ARM.attributes
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+                0x03805800                __ARM.attributes_end = .
+
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+                0x038052bc                __sdata_start = .
+ *(.sdata)
+ *(.sdata.*)
+ *(.gnu.linkonce.s.*)
+                0x038052bc                __sdata_end = .
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+                0x038052bc                __sbss_start = .
+ *(.sbss)
+ *(.sbss.*)
+ *(.gnu.linkonce.sb.*)
+                0x038052bc                __sbss_end = .
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+.tdata          0x038052bc        0x0
+                0x038052bc                __tdata_start = .
+ *(.tdata)
+ *(.tdata.*)
+ *(.gnu.linkonce.td.*)
+                0x038052bc                __tdata_end = .
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+                0x038052bc                __tbss_start = .
+ *(.tbss)
+ *(.tbss.*)
+ *(.gnu.linkonce.tb.*)
+                0x038052bc                __tbss_end = .
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+                0x038052c0                __bss_start = .
+ *(.bss)
+ *(.bss.*)
+ .bss._ZStL8__ioinit
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+ .bss.apressed  0x038052c1        0x1 build/src/main.o
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+ .bss.bpressed  0x038052c2        0x1 build/src/main.o
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+ *fill*         0x038052c3        0x1 
+ .bss.Competition
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+ .bss.LeftDriveSmart
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+ .bss.RightDriveSmart
+                0x03805310       0x24 build/src/main.o
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+ *fill*         0x03805334        0x4 
+ .bss.Drivetrain
+                0x03805338       0xd0 build/src/main.o
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+ .bss.LiftMotor
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+ .bss.LiftMotor2
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+                0x0380542c                LiftMotor2
+ .bss.TiltMotor
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+ .bss.Controller1
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+ .bss.ofs       0x038057a0      0x100 build/src/main.o
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+ .bss.__dso_handle
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+                0x03805b5c                __dso_handle
+ .bss.lastTime.8978
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+ .bss._ZN3vex4task8_labelIdE
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+                0x03805b64                vex::task::_labelId
+ .bss._ZN3vex11competition22bStopTasksBetweenModesE
+                0x03805b68        0x1 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03805b68                vex::competition::bStopTasksBetweenModes
+ .bss._ZN3vex11competition15_driver_pendingE
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+                0x03805b69                vex::competition::_driver_pending
+ .bss._ZN3vex11competition14_auton_pendingE
+                0x03805b6a        0x1 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03805b6a                vex::competition::_auton_pending
+ *fill*         0x03805b6b        0x1 
+ .bss._ZN3vex11competition23_drivercontrol_callbackE
+                0x03805b6c        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03805b6c                vex::competition::_drivercontrol_callback
+ .bss._ZN3vex11competition20_autonomous_callbackE
+                0x03805b70        0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03805b70                vex::competition::_autonomous_callback
+ .bss._ZN3vex11competition25bStopAllTasksBetweenModesE
+                0x03805b74        0x1 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+                0x03805b74                vex::competition::bStopAllTasksBetweenModes
+ .bss._ZStL8__ioinit
+                0x03805b75        0x1 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+ *fill*         0x03805b76        0x2 
+ .bss._ZN3vex5color6orangeE
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+                0x03805b78                vex::color::orange
+ .bss._ZN3vex5color5blackE
+                0x03805b80        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03805b80                vex::color::black
+ .bss._ZN3vex5color6yellowE
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+                0x03805b88                vex::color::yellow
+ .bss._ZN3vex5color5greenE
+                0x03805b90        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03805b90                vex::color::green
+ .bss._ZN3vex5color6purpleE
+                0x03805b98        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03805b98                vex::color::purple
+ .bss._ZN3vex5color4cyanE
+                0x03805ba0        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03805ba0                vex::color::cyan
+ .bss._ZN3vex5color4blueE
+                0x03805ba8        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03805ba8                vex::color::blue
+ .bss._ZN3vex5color3redE
+                0x03805bb0        0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+                0x03805bb0                vex::color::red
+ .bss._ZN3vex5color11transparentE
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+                0x03805bb8                vex::color::transparent
+ .bss._ZN3vex5color5whiteE
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+                0x03805bc0                vex::color::white
+ *(.gnu.linkonce.b.*)
+ *(COMMON)
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+                0x03805bcc                __vex_critical_section
+                0x03805be0                __bss_end = .
+                0x038052bc                _SDA_BASE_ = (__sdata_start + ((__sbss_end - __sdata_start) / 0x2))
+                0x03804e54                _SDA2_BASE_ = (__sdata2_start + ((__sbss2_end - __sdata2_start) / 0x2))
+
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+                0x03805be0                . = ALIGN (0x10)
+ *fill*         0x03805be0        0x0 
+                0x03805be0                _heap = .
+                0x03805be0                HeapBase = .
+                0x03805be0                _heap_start = .
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+ *fill*         0x03805be0   0x100000 
+                0x03905be0                _heap_end = .
+                0x03905be0                HeapLimit = .
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+                0x03905be0                . = ALIGN (0x10)
+                0x03905be0                _stack_end = .
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+ *fill*         0x03905be0     0x2000 
+                0x03907be0                . = ALIGN (0x10)
+                0x03907be0                _stack = .
+                0x03907be0                __stack = _stack
+                0x03907be0                . = ALIGN (0x10)
+                0x03907be0                _irq_stack_end = .
+                0x03907fe0                . = (. + _IRQ_STACK_SIZE)
+ *fill*         0x03907be0      0x400 
+                0x03907fe0                . = ALIGN (0x10)
+                0x03907fe0                __irq_stack = .
+                0x03907fe0                _supervisor_stack_end = .
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+ *fill*         0x03907fe0      0x800 
+                0x039087e0                . = ALIGN (0x10)
+                0x039087e0                __supervisor_stack = .
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+ *fill*         0x039087e0      0x400 
+                0x03908be0                . = ALIGN (0x10)
+                0x03908be0                __abort_stack = .
+                0x03908be0                _fiq_stack_end = .
+                0x03908fe0                . = (. + _FIQ_STACK_SIZE)
+ *fill*         0x03908be0      0x400 
+                0x03908fe0                . = ALIGN (0x10)
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+                0x039093e0                . = (. + _UNDEF_STACK_SIZE)
+ *fill*         0x03908fe0      0x400 
+                0x039093e0                . = ALIGN (0x10)
+                0x039093e0                __undef_stack = .
+                0x039093e0                _end = .
+LOAD C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/stdlib_0.lib
+LOAD build/src/main.o
+LOAD build/src/robot-config.o
+START GROUP
+LOAD C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a
+LOAD C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libstdc++.a
+LOAD C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a
+LOAD C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libm.a
+LOAD C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libgcc.a
+END GROUP
+OUTPUT(build/38535A4.elf elf32-littlearm)
+
+.comment        0x00000000       0x9d
+ .comment       0x00000000       0x2d build/src/main.o
+                                 0x2e (size before relaxing)
+ .comment       0x00000000       0x2e build/src/robot-config.o
+ .comment       0x0000002d       0x70 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj)
+                                 0x71 (size before relaxing)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_thread.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_event.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_mevent.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj)
+ .comment       0x00000000       0x71 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motorgroup.cpp.obj)
+
+.note.GNU-stack
+                0x00000000        0x0
+ .note.GNU-stack
+                0x00000000        0x0 build/src/main.o
+ .note.GNU-stack
+                0x00000000        0x0 build/src/robot-config.o
+
+.debug_frame    0x00000000      0x104
+ .debug_frame   0x00000000       0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-fini.o)
+ .debug_frame   0x00000034       0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-init.o)
+ .debug_frame   0x00000060       0xa4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-snprintf.o)
diff --git a/build/src/main.o b/build/src/main.o
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diff --git a/compile_commands.json b/compile_commands.json
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+++ b/compile_commands.json
@@ -0,0 +1 @@
+[{"directory":"C:/Users/Cole/Documents/cad/38535A-4","file":"include/robot-config.h","arguments":["clang","-xc++","include/robot-config.h","-include","v5_vcs.h","--target=thumbv7-none-eabi","-U","__INT32_TYPE__","-U","__UINT32_TYPE__","-D","__INT32_TYPE__=long","-D","__UINT32_TYPE__=unsigned long","-std=gnu++11","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/clang/8.0.0/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3/arm-none-eabi/armv7-ar/thumb"]},{"directory":"C:/Users/Cole/Documents/cad/38535A-4","file":"include/vex.h","arguments":["clang","-xc++","include/vex.h","-include","v5_vcs.h","--target=thumbv7-none-eabi","-U","__INT32_TYPE__","-U","__UINT32_TYPE__","-D","__INT32_TYPE__=long","-D","__UINT32_TYPE__=unsigned long","-std=gnu++11","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/clang/8.0.0/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3/arm-none-eabi/armv7-ar/thumb"]},{"directory":"C:/Users/Cole/Documents/cad/38535A-4","file":"src/main.cpp","output":"build/src/main.o","arguments":["clang","-xc++","src/main.cpp","--target=thumbv7-none-eabi","-fshort-enums","-Wno-unknown-attributes","-U","__INT32_TYPE__","-U","__UINT32_TYPE__","-D","__INT32_TYPE__=long","-D","__UINT32_TYPE__=unsigned long","-march=armv7-a","-mfpu=neon","-mfloat-abi=softfp","-Os","-Wall","-Werror=return-type","-fno-rtti","-fno-threadsafe-statics","-fno-exceptions","-std=gnu++11","-ffunction-sections","-fdata-sections","-D","VexV5","-I",".","-I","include","-I","src","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/clang/8.0.0/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3/arm-none-eabi/armv7-ar/thumb","-c","-o","build/src/main.o","-mlinker-version=409.12","--target=armv7-none--eabi"]},{"directory":"C:/Users/Cole/Documents/cad/38535A-4","file":"src/robot-config.cpp","output":"build/src/robot-config.o","arguments":["clang","-xc++","src/robot-config.cpp","--target=thumbv7-none-eabi","-fshort-enums","-Wno-unknown-attributes","-U","__INT32_TYPE__","-U","__UINT32_TYPE__","-D","__INT32_TYPE__=long","-D","__UINT32_TYPE__=unsigned long","-march=armv7-a","-mfpu=neon","-mfloat-abi=softfp","-Os","-Wall","-Werror=return-type","-fno-rtti","-fno-threadsafe-statics","-fno-exceptions","-std=gnu++11","-ffunction-sections","-fdata-sections","-D","VexV5","-I",".","-I","include","-I","src","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/clang/8.0.0/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3","-I","C:/Program Files (x86)/VEX Robotics/VEXcode V5 Text/sdk/vexv5/gcc/include/c++/4.9.3/arm-none-eabi/armv7-ar/thumb","-c","-o","build/src/robot-config.o","-mlinker-version=409.12","--target=armv7-none--eabi"]}]
\ No newline at end of file
diff --git a/include/robot-config.h b/include/robot-config.h
new file mode 100644
index 0000000..9fb88a8
--- /dev/null
+++ b/include/robot-config.h
@@ -0,0 +1,19 @@
+using namespace vex;
+
+extern brain Brain;
+
+// VEXcode devices
+extern drivetrain Drivetrain;
+extern motor LiftMotor;
+extern motor LiftMotor2;
+extern motor TiltMotor;
+extern controller Controller1;
+extern motor IntakeR;
+extern motor IntakeL;
+
+/**
+ * Used to initialize code/tasks/devices added using tools in VEXcode Text.
+ * 
+ * This should be called at the start of your int main function.
+ */
+void  vexcodeInit( void );
\ No newline at end of file
diff --git a/include/vex.h b/include/vex.h
new file mode 100644
index 0000000..ad2084c
--- /dev/null
+++ b/include/vex.h
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/*    Module:       vex.h                                                     */
+/*    Author:       Vex Robotics                                              */
+/*    Created:      1 Feb 2019                                                */
+/*    Description:  Default header for V5 projects                            */
+/*                                                                            */
+/*----------------------------------------------------------------------------*/
+//
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "v5.h"
+#include "v5_vcs.h"
+
+#include "robot-config.h"
+
+#define waitUntil(condition)                                                   \
+  do {                                                                         \
+    wait(5, msec);                                                             \
+  } while (!(condition))
+
+#define repeat(iterations)                                                     \
+  for (int iterator = 0; iterator < iterations; iterator++)
\ No newline at end of file
diff --git a/makefile b/makefile
new file mode 100644
index 0000000..acc3bca
--- /dev/null
+++ b/makefile
@@ -0,0 +1,30 @@
+# VEXcode makefile 2019_03_26_01
+
+# show compiler output
+VERBOSE = 0
+
+# include toolchain options
+include vex/mkenv.mk
+
+# location of the project source cpp and c files
+SRC_C  = $(wildcard src/*.cpp) 
+SRC_C += $(wildcard src/*.c)
+SRC_C += $(wildcard src/*/*.cpp) 
+SRC_C += $(wildcard src/*/*.c)
+
+OBJ = $(addprefix $(BUILD)/, $(addsuffix .o, $(basename $(SRC_C))) )
+
+# location of include files that c and cpp files depend on
+SRC_H  = $(wildcard include/*.h)
+
+# additional dependancies
+SRC_A  = makefile
+
+# project header file locations
+INC_F  = include
+
+# build targets
+all: $(BUILD)/$(PROJECT).bin
+
+# include build rules
+include vex/mkrules.mk
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..a6cdd9c
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,562 @@
+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/*    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    10, 1           
+// LiftMotor            motor         9               
+// TiltMotor            motor         8               
+// Controller1          controller                    
+// IntakeR              motor         2               
+// IntakeL              motor         3               
+// ---- END VEXCODE CONFIGURED DEVICES ----
+
+#include "vex.h"
+#include <cstdio>
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+#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 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");
+  std::string instructions;
+  while(std::getline(ifs, instructions)) {
+    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.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);
+    instructions = instructions.substr(y + 1);
+    Controller1.Screen.print(vel);
+    RightDriveSmart.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);
+    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);
+    LiftMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
+    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);
+    instructions = instructions.substr(y + 1);
+    TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
+    wait(20, msec);
+  }
+  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
+
+}
+
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/*                              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;
+  //uint8_t * data = (uint8_t*)malloc(sizeof(uint8_t) * 5);
+  
+  // 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);
+      }
+    }
+    if(Controller1.ButtonRight.pressing()) {
+      donerecording = true;
+    }
+    if(recording) {
+      //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();
+      }
+    }
+    controllerBaseInput();
+    wait(20, msec); // Sleep the task for a short amount of time to
+                    // prevent wasted resources.
+  }
+}
+
+//
+// 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 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;
+  }
+  if(Controller1.ButtonDown.pressing()) {
+    drivetrainLeftSideSpeed = -33;
+    drivetrainRightSideSpeed = -33;
+  }
+  else if(Controller1.ButtonUp.pressing()) {
+    drivetrainLeftSideSpeed = 33;
+    drivetrainRightSideSpeed = 33;
+  } 
+  else {
+    drivetrainLeftSideSpeed *= driveMultiplier;
+    drivetrainRightSideSpeed *= driveMultiplier;
+  }
+  // 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;
+  }
+  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 (IntakeStop) {
+    IntakeL.setVelocity(IntakeSpeed, percent);
+    IntakeR.setVelocity(IntakeSpeed, percent);
+    IntakeL.spin(forward);
+    IntakeR.spin(forward);
+  }
+  // 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
diff --git a/src/robot-config.cpp b/src/robot-config.cpp
new file mode 100644
index 0000000..da9b4d3
--- /dev/null
+++ b/src/robot-config.cpp
@@ -0,0 +1,37 @@
+#include "vex.h"
+
+using namespace vex;
+using signature = vision::signature;
+using code = vision::code;
+
+// A global instance of brain used for printing to the V5 Brain screen
+brain  Brain;
+
+// VEXcode device constructors
+
+// VEXcode generated functions
+// define variables used for controlling motors based on controller inputs
+
+// define a task that will handle monitoring inputs from Controller1
+int rc_auto_loop_callback_Controller1() {
+  // process the controller input every 20 milliseconds
+  // update the motors based on the input values
+  while(true) {
+    // calculate the drivetrain motor velocities from the controller joystick axies
+    // left = Axis3
+    // right = Axis2
+    
+    // wait before repeating the process
+    wait(20, msec);
+  }
+  return 0;
+}
+
+/**
+ * Used to initialize code/tasks/devices added using tools in VEXcode Text.
+ * 
+ * This should be called at the start of your int main function.
+ */
+void vexcodeInit( void ) {
+  task rc_auto_loop_task_Controller1(rc_auto_loop_callback_Controller1);
+}
\ No newline at end of file
diff --git a/vex/mkenv.mk b/vex/mkenv.mk
new file mode 100644
index 0000000..f420da0
--- /dev/null
+++ b/vex/mkenv.mk
@@ -0,0 +1,101 @@
+# VEXcode mkenv.mk 2019_06_06_01
+
+# macros to help with windows paths that include spaces
+sp :=
+sp +=
+qs = $(subst ?,$(sp),$1)
+sq = $(subst $(sp),?,$1)
+
+# default platform and build location
+PLATFORM  = vexv5
+BUILD     = build
+
+# version for clang headers
+ifneq ("$(origin HEADERS)", "command line")
+HEADERS = 8.0.0
+endif
+
+# Project name passed from app
+ifeq ("$(origin P)", "command line")
+PROJECT   = $(P)
+else
+PROJECT   = $(notdir $(call sq,$(abspath ${CURDIR})))
+endif
+
+# Toolchain path passed from app
+ifeq ("$(origin T)", "command line")
+TOOLCHAIN = $(T)
+endif
+ifndef TOOLCHAIN
+TOOLCHAIN = ${HOME}/sdk
+endif
+
+# Verbose flag passed from app
+ifeq ("$(origin V)", "command line")
+BUILD_VERBOSE=$(V)
+endif
+
+# allow verbose to be set by makefile if not set by app
+ifndef BUILD_VERBOSE
+ifndef VERBOSE
+BUILD_VERBOSE = 0
+else
+BUILD_VERBOSE = $(VERBOSE)
+endif
+endif
+
+# use verbose flag
+ifeq ($(BUILD_VERBOSE),0)
+Q = @
+else
+Q =
+endif
+
+# compile and link tools
+CC      = clang
+CXX     = clang
+OBJCOPY = arm-none-eabi-objcopy
+SIZE    = arm-none-eabi-size
+LINK    = arm-none-eabi-ld
+ARCH    = arm-none-eabi-ar
+ECHO    = @echo
+DEFINES = -DVexV5
+
+# platform specific macros
+ifeq ($(OS),Windows_NT)
+$(info windows build for platform $(PLATFORM))
+SHELL = cmd.exe
+MKDIR = md "$(@D)" 2> nul || :
+RMDIR = rmdir /S /Q
+CLEAN = $(RMDIR) $(BUILD) 2> nul || :
+else
+$(info unix build for platform $(PLATFORM))
+MKDIR = mkdir -p "$(@D)" 2> /dev/null || :
+RMDIR = rm -rf
+CLEAN = $(RMDIR) $(BUILD) 2> /dev/null || :
+endif
+
+# toolchain include and lib locations
+TOOL_INC  = -I"$(TOOLCHAIN)/$(PLATFORM)/clang/$(HEADERS)/include" -I"$(TOOLCHAIN)/$(PLATFORM)/gcc/include"  -I"$(TOOLCHAIN)/$(PLATFORM)/gcc/include/c++/4.9.3"  -I"$(TOOLCHAIN)/$(PLATFORM)/gcc/include/c++/4.9.3/arm-none-eabi/armv7-ar/thumb"
+TOOL_LIB  = -L"$(TOOLCHAIN)/$(PLATFORM)/gcc/libs"
+
+# compiler flags
+CFLAGS_CL = -target thumbv7-none-eabi -fshort-enums -Wno-unknown-attributes -U__INT32_TYPE__ -U__UINT32_TYPE__ -D__INT32_TYPE__=long -D__UINT32_TYPE__='unsigned long' 
+CFLAGS_V7 = -march=armv7-a -mfpu=neon -mfloat-abi=softfp
+CFLAGS    = ${CFLAGS_CL} ${CFLAGS_V7} -Os -Wall -Werror=return-type -ansi -std=gnu99 $(DEFINES)
+CXX_FLAGS = ${CFLAGS_CL} ${CFLAGS_V7} -Os -Wall -Werror=return-type -fno-rtti -fno-threadsafe-statics -fno-exceptions  -std=gnu++11 -ffunction-sections -fdata-sections $(DEFINES)
+
+# linker flags
+LNK_FLAGS = -nostdlib -T "$(TOOLCHAIN)/$(PLATFORM)/lscript.ld" -R "$(TOOLCHAIN)/$(PLATFORM)/stdlib_0.lib" -Map="$(BUILD)/$(PROJECT).map" --gc-section -L"$(TOOLCHAIN)/$(PLATFORM)" ${TOOL_LIB}
+
+# future statuc library
+PROJECTLIB = lib$(PROJECT)
+ARCH_FLAGS = rcs
+
+# libraries
+LIBS =  --start-group -lv5rt -lstdc++ -lc -lm -lgcc --end-group
+
+# include file paths
+INC += $(addprefix -I, ${INC_F})
+INC += -I"$(TOOLCHAIN)/$(PLATFORM)/include"
+INC += ${TOOL_INC}
diff --git a/vex/mkrules.mk b/vex/mkrules.mk
new file mode 100644
index 0000000..a45bbdc
--- /dev/null
+++ b/vex/mkrules.mk
@@ -0,0 +1,32 @@
+# VEXcode mkrules.mk 2019_03_26_01
+
+# compile C files
+$(BUILD)/%.o: %.c $(SRC_H)
+	$(Q)$(MKDIR)
+	$(ECHO) "CC  $<"
+	$(Q)$(CC) $(CFLAGS) $(INC) -c -o $@ $<
+	
+# compile C++ files
+$(BUILD)/%.o: %.cpp $(SRC_H) $(SRC_A)
+	$(Q)$(MKDIR)
+	$(ECHO) "CXX $<"
+	$(Q)$(CXX) $(CXX_FLAGS) $(INC) -c -o $@ $<
+	
+# create executable 
+$(BUILD)/$(PROJECT).elf: $(OBJ)
+	$(ECHO) "LINK $@"
+	$(Q)$(LINK) $(LNK_FLAGS) -o $@ $^ $(LIBS)
+	$(Q)$(SIZE) $@
+
+# create binary 
+$(BUILD)/$(PROJECT).bin: $(BUILD)/$(PROJECT).elf
+	$(Q)$(OBJCOPY) -O binary $(BUILD)/$(PROJECT).elf $(BUILD)/$(PROJECT).bin
+
+# create archive
+$(BUILD)/$(PROJECTLIB).a: $(OBJ)
+	$(Q)$(ARCH) $(ARCH_FLAGS) $@ $^
+
+# clean project
+clean:
+	$(info clean project)
+	$(Q)$(CLEAN)