diff --git a/src/Zaphod.cpp b/src/Zaphod.cpp
deleted file mode 100644
index dc51a85..0000000
--- a/src/Zaphod.cpp
+++ /dev/null
@@ -1,690 +0,0 @@
-//Includes{{{
-#include "WPILib.h"
-#include "SmartDashboard/SmartDashboard.h"
-#include <iostream>
-#include <math.h>
-#include <sstream>
-//}}}
-class RobotDemo : public SimpleRobot
-{
-  //Declarations{{{
-  RobotDrive myRobot;
-  bool collectorExtended,shooting,compressing,allowCompressing, hasShot, waitingToFire, shooter_idle;
-  float upLimit,throttle;
-  Joystick Rstick,Lstick;
-  Solenoid collectorSole1,collectorSole2;
-  Compressor compressor;
-  Jaguar Left1,Left2,Left3,Right1,Right2,Right3,RightArmMotor1,RightArmMotor2,LeftArmMotor1,LeftArmMotor2,CollectorMotor1;
-  AnalogChannel armPot,BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
-  DigitalOutput BallLeft,BallRight,WallLeft,WallRight;
-  //}}}
-public:
-  RobotDemo():
-    //Initializations{{{
-    //Joysticks
-    Rstick(1),
-    Lstick(2),
-    //Pot
-    armPot(6),
-    //Ultrasonic
-    BallSonicLeft(1),
-    BallSonicRight(2),
-    WallSonicLeft(3),
-    WallSonicRight(4),
-    BallLeft(1,4),
-    WallLeft(1,5),
-    BallRight(2,4),
-    WallRight(2,5),
-    //Compressor
-    compressor(2,5,1,3),
-    //Solenoids
-    collectorSole1(1),
-    collectorSole2(2),
-    //Drive Motors
-    Left1(1,1),
-    Left2(1,2),
-    Left3(1,3),
-    Right1(2,1),
-    Right2(2,2),
-    Right3(2,3),
-    //Shooter Motors
-    LeftArmMotor1(1,4),
-    LeftArmMotor2(1,5),
-    RightArmMotor1(2,4),
-    RightArmMotor2(2,5),
-    //Collector Motor
-    CollectorMotor1(1,6),
-    myRobot(Left1,Left2,Right1,Right2){
-    GetWatchdog().SetEnabled(false);
-  }
-  //}}}
-  //{{{shootRobot
-  void shootRobot(float power){
-      setMotorValue(4,1,cvt(power));
-      setMotorValue(5,1,cvt(power));
-      setMotorValue(4,2,cvt(-power));
-      setMotorValue(5,2,cvt(-power));
-  }
-  //}}}
-  //RobotInit{{{
-  void RobotInit(){
-    DashboardSetup();
-    upLimit=130.0;
-    //compressor.Start();
-    shooting=false;
-    compressing=true;
-    allowCompressing=true;
-    hasShot=false;
-    waitingToFire=false;
-    shooter_idle=true;
-    throttle=(-Lstick.GetRawAxis(4)+1)/2;
-  }
-  //}}}
-  //DashboardSetup{{{
-  void DashboardSetup(){
-    SmartDashboard::PutNumber("Throttle",throttle);
-    SmartDashboard::PutNumber("upLimit",120.0f);
-    SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Log Level",1.0f);
-    SmartDashboard::PutNumber("ArmSpeed",0.0);
-    //Ultrasonic
-    SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
-    //Autonomous values
-    SmartDashboard::PutNumber("AutoSpeed",0.95f);
-    SmartDashboard::PutNumber("Auto Distance",65.0f);
-    SmartDashboard::PutNumber("Collector Speed",1.0f);
-    SmartDashboard::PutNumber("AutoPower",0.46f);
-    SmartDashboard::PutNumber("AutoCorrection",0.032f);
-    SmartDashboard::PutNumber("Initial Drive Delay",2.0f);
-    SmartDashboard::PutNumber("Inital Drive Timeout",4.5f);
-    SmartDashboard::PutNumber("First Shot Start",0.5f);
-    SmartDashboard::PutNumber("First Shot Stop",1.0f);
-    SmartDashboard::PutNumber("Reverse direction start",0.0f);
-    SmartDashboard::PutNumber("Reverse direction stop",2.5f);
-    SmartDashboard::PutNumber("Second Drive Start",1.0f);
-    SmartDashboard::PutNumber("Second Drive Timeout",2.5f);
-    SmartDashboard::PutNumber("Second Shot Start",0.5f);
-    SmartDashboard::PutNumber("Second Shot Stop",1.0f);
-    SmartDashboard::PutNumber("Autonomous step",0.0f);
-    SmartDashboard::PutNumber("Autonomous sequence",2.0f);
-    //Shooter presets
-    SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
-    SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
-    SmartDashboard::PutNumber("ShooterButtonPower7",1.0f);
-    SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
-    //Bool switches
-    SmartDashboard::PutBoolean("HalfPower",false);
-    SmartDashboard::PutBoolean("OneBallAuto",false);
-    SmartDashboard::PutBoolean("Use Ultrasonic",true);
-    SmartDashboard::PutBoolean("Daniel Mode",false);
-    SmartDashboard::PutBoolean("CollectorState",false);
-    SmartDashboard::PutBoolean("Compressor Enabled",allowCompressing);
-    SmartDashboard::PutBoolean("Compressor Running",compressing);
-    SmartDashboard::PutBoolean("Ignore Pot",false);
-  }
-  //}}}
-  //updateDashboard{{{
-  void updateDashboard(){
-    SmartDashboard::PutNumber("Throttle",throttle);
-    SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
-    SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
-    SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
-    SmartDashboard::PutNumber("upLimit",upLimit);
-    SmartDashboard::PutBoolean("Compressor Running",compressing);
-    allowCompressing=SmartDashboard::GetBoolean("Compressor Enabled");
-    if(upLimit > 167){
-      upLimit=167;
-    }
-  }
-  //}}}
-  //driveRobot{{{
-  void driveRobot(float x,float y){
-    if(y>1.0f){
-      y=1.0f;
-    }else if(y!=0.0f&&y<-1.0f){
-      y=-1.0f;
-    }
-    if(SmartDashboard::GetBoolean("HalfPower")){
-      x/=3;
-      y/=3;
-      printf("Running drive motors at half power\n");
-    }
-    int leftPower=((y+x)/2+1)*127+1;
-    int rightPower=((y-x)/2+1)*127+1;
-    setMotorValue(1,1,leftPower);
-    setMotorValue(2,1,leftPower);
-    setMotorValue(3,1,leftPower);
-    setMotorValue(1,2,rightPower);
-    setMotorValue(2,2,rightPower);
-    setMotorValue(3,2,rightPower);
-  }
-  //}}}
-  //voltToDistance{{{
-  float voltToDistance(float a,bool wall=false){
-    if(wall){
-      return (a/0.00488f)/2.54f;
-    }else{
-      return (a/0.000976562f)/25.4f;
-    }
-  }
-  //}}}
-  //potToDegrees{{{
-  float potToDegrees(float a) {
-    float max = -.0003948;
-    float min = 5.0245547;
-    float b = a - max;
-    min = min - max; // ~5.0027
-    max = max - max; //=0
-    return 300 - ((b + max) * (300 / min));
-  }
-  //}}}
-  //cvt{{{
-  int cvt(float input){
-    return input * 127.0f + 128;
-  }
-  //}}}
-  //setMotorValue{{{
-  void setMotorValue(int motor,int subwayStation=1,int value=127){
-    if(subwayStation==1){
-      //subwayStation1{{{
-      switch(motor){
-      case 1:
-        Left1.SetRaw(value);
-        break;
-      case 2:
-        Left2.SetRaw(value);
-        break;
-      case 3:
-        Left3.SetRaw(value);
-        break;
-      case 4:
-        LeftArmMotor1.SetRaw(value);
-        break;
-      case 5:
-        LeftArmMotor2.SetRaw(value);
-        break;
-      case 6:
-        CollectorMotor1.SetRaw(value);
-        break;
-      case 7:
-        break;
-      case 8:
-        break;
-      case 9:
-        break;
-      case 10:
-        break;
-      }
-      //}}}
-    }else if(subwayStation==2){
-      //subwayStation2{{{
-      switch(motor){
-        //Shooter motors
-      case 1:
-        Right1.SetRaw(value);
-        break;
-      case 2:
-        Right2.SetRaw(value);
-        break;
-      case 3:
-        Right3.SetRaw(value);
-        break;
-      case 4:
-        RightArmMotor1.SetRaw(value);
-        break;
-      case 5:
-        RightArmMotor2.SetRaw(value);
-        break;
-      case 6:
-        break;
-      case 7:
-        break;
-      case 8:
-        break;
-      case 9:
-        break;
-      case 10:
-        break;
-      }
-      //}}}
-    }
-  }
-  //}}}
-  //runCompressor{{{
-  void runCompressor(int i, int refreshInterval){
-    if(i%refreshInterval==0&compressing&compressor.GetPressureSwitchValue()==1){
-      compressing=false;
-      compressor.Stop();
-    }
-    if(i%refreshInterval==0&!compressing&compressor.GetPressureSwitchValue()==0){
-      compressing=true;
-      compressor.Start();
-    }
-  }
-    //}}}
-  //shooter_clear_to_fire{{{
-  // Function used to centralize the pre-shot checks (collector state, pot angle, etc.)
-  bool shooter_clear_to_fire(){
-    bool clear_to_shoot;
-    if(collectorExtended==true){ //Check that the collector is in the out position
-      clear_to_shoot=true;
-    }else{
-      clear_to_shoot=false;
-    }
-    //Used for debugging purposes
-    if(clear_to_shoot){
-      printf("The robot is clear to shoot!\n");
-    }
-    return clear_to_shoot; //Returns true if all of the shooting safetys are met
-  }
-  //}}}
-  //{{{shooter_fire
-  bool shooter_fire(bool shooter_clear, float shooter_speed, float shooter_max_angle, float shooter_current_angle){
-    //Fire the shooter motors at the given shooter_speed while the shooter_max_angle hasn't been hit and that it is clear to shoot
-    if(shooter_max_angle>=shooter_current_angle && shooter_clear==true && shooter_speed >= 15){
-      setMotorValue(4,1,cvt(shooter_speed));
-      setMotorValue(5,1,cvt(shooter_speed));
-      setMotorValue(4,2,cvt(-shooter_speed));
-      setMotorValue(5,2,cvt(-shooter_speed));
-      setMotorValue(6,1,1);
-      return true;
-    }
-    else{
-      shooter_fired(1);
-      return false;
-    }
-  }
-  //}}}
-  //{{{shooter_lower
-  void shooter_lower(float shooter_speed, float shooter_lower_limit, float shooter_current_angle){
-    //Used to lower the shooter to the lower limit
-    if(shooter_lower_limit<=shooter_current_angle){
-      setMotorValue(4,1,cvt(shooter_speed));
-      setMotorValue(5,1,cvt(shooter_speed));
-      setMotorValue(4,2,cvt(-shooter_speed));
-      setMotorValue(5,2,cvt(-shooter_speed));
-      setMotorValue(6,1,0);
-    }else{
-     //Important part the stops the whole shooting sequence and tells the user that the shooter is back at its original state
-     shooter_idle=true;
-     shooter_fired(0);
-    }
-  }
-  //}}}
-  //{{{shooter_stop
-  void shooter_stop(){
-    setMotorValue(4,1,cvt(0.0));
-    setMotorValue(5,1,cvt(0.0));
-    setMotorValue(4,2,cvt(0.0));
-    setMotorValue(5,2,cvt(0.0));
-    setMotorValue(6,1,0);
-  }
-  //}}}
-  //shooter_fired{{{
-  // This function is used to check if the shooter has finished its cycle
-  bool shooter_fired(int mode){
-    switch(mode){
-      case 0:
-        hasShot=false;
-        return hasShot;
-        break;
-      case 1:
-        hasShot=true;
-        return hasShot;
-        break;
-      case 2:
-        return hasShot;
-        break;
-      default:
-        break;
-    }
-  }
-  //}}}
-  //Autonomous{{{
-  void Autonomous(){
-    //Initializations{{{
-    myRobot.SetSafetyEnabled(false);
-    int i=0;
-    int c=0;
-    float power=SmartDashboard::GetNumber("AutoPower");
-    float correction=SmartDashboard::GetNumber("AutoCorrection");
-    int currentStep=0;
-    compressing=false;
-    collectorSole1.Set(false);
-    collectorSole2.Set(true);
-    WallLeft.Set(1);
-    BallLeft.Set(0);
-    WallRight.Set(1);
-    BallRight.Set(0);
-    SmartDashboard::PutBoolean("CollectorState",true);
-    //}}}
-    while(IsEnabled()&&IsAutonomous()){
-      if(SmartDashboard::GetNumber("Autonomous sequence")==0){
-        //Autonomous0{{{
-        //Drive{{{
-        if(currentStep==0){
-          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-            driveRobot(-1.0f,correction);
-          }else{
-            driveRobot(0.0f,0.0f);
-          }
-          if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
-            driveRobot(0.0f,0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Shoot{{{
-        if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
-          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(power);
-          }else{
-            shootRobot(0.0f);
-          }
-          setMotorValue(6, 1, 1);
-          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-            shootRobot(0.0f);
-            setMotorValue(6, 1, 0);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Lower Shooter{{{
-        if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
-          if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(-0.3f);
-          }else{
-            shootRobot(0.0f);
-          }
-          if(c==(3.0f)*200){
-            shootRobot(0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //}}}
-      }else if(SmartDashboard::GetNumber("Autonomous sequence")==1){
-        //Autonomous1{{{
-        //Drive{{{
-        if(currentStep==0){
-          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-            driveRobot(-1.0f,correction);
-          }else{
-            driveRobot(0.0f,0.0f);
-          }
-          if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
-            driveRobot(0.0f,0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Shoot{{{
-        if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
-          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(power);
-          }else{
-            shootRobot(0.0f);
-          }
-          setMotorValue(6, 1, 1);
-          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-            shootRobot(0.0f);
-            setMotorValue(6, 1, 0);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Drive Backwards{{{
-        if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
-          driveRobot(1.0f,correction);
-          if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(-0.2f);
-          }else{
-            shootRobot(0.0f);
-          }
-          if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
-            driveRobot(0.0f,0.0f);
-            shootRobot(0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Drive{{{
-        if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
-          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-            driveRobot(-1.0f,correction);
-          }else{
-            driveRobot(0.0f,0.0f);
-          }
-          if(c==(SmartDashboard::GetNumber("Inital Drive Timeout"))*200){
-            driveRobot(0.0f,0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Shoot{{{
-        if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
-          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(power);
-          }else{
-            shootRobot(0.0f);
-          }
-          setMotorValue(6, 1, 1);
-          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-            shootRobot(0.0f);
-            setMotorValue(6, 1, 0);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //}}}
-      }else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
-        //Autonomous2{{{
-        //Drive{{{
-        if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){
-          setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed"));
-          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-            driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction);
-          }else{
-            driveRobot(0.0f,0.0f);
-          }
-          if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
-            setMotorValue(6, 1, 0);
-            driveRobot(0.0f,0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Release Ball{{{
-        if(currentStep==1){
-          setMotorValue(6, 1, 102);
-          if(c==50){
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Shoot{{{
-        if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
-          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(power);
-          }else{
-            shootRobot(0.0f);
-          }
-          if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
-            shootRobot(0.0f);
-            setMotorValue(6, 1, 0);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Lower Shooter{{{
-        if(currentStep==3){
-          if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(-0.3f);
-          }else{
-            shootRobot(0.0f);
-          }
-          if(c==1*200){
-            shootRobot(0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Collect Ball{{{
-        if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
-          setMotorValue(6, 1, 1);
-          if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
-            setMotorValue(6, 1, 0);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //Shoot{{{
-        if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
-          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-            shootRobot(power);
-          }else{
-            shootRobot(0.0f);
-          }
-          setMotorValue(6, 1, 1);
-          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-            setMotorValue(6, 1, 0);
-            shootRobot(0.0f);
-            currentStep++;
-            c=0;
-          }
-        }
-        //}}}
-        //}}}
-      }
-      SmartDashboard::PutNumber("Autonomous step", currentStep);
-      updateDashboard();
-      //Compressor{{{
-      if(SmartDashboard::GetBoolean("Compressor Enabled")){
-        runCompressor(i,100);
-      }
-      //}}}
-      i++;
-      c++;
-      Wait(0.005f);
-    compressing=false;
-    compressor.Stop();
-  }
-}
-  //}}}
-  //Teleop{{{
-  void OperatorControl(){
-    //Initializations{{{
-    myRobot.SetSafetyEnabled(false);
-    int i=0;
-    collectorSole1.Set(true);
-    collectorSole2.Set(false);
-    compressing=false;
-    SmartDashboard::PutBoolean("CollectorState",false);
-    //}}}
-    while(IsEnabled()&&IsOperatorControl()){
-      //Joystick{{{
-      //Throttle values{{{
-      if(Lstick.GetRawButton(9)==1){
-        throttle=(-Lstick.GetRawAxis(4)+1)/2;
-      }else if(Lstick.GetRawButton(10)){
-        throttle=SmartDashboard::GetNumber("ShooterButtonPower10");
-      }else if(Lstick.GetRawButton(7)){
-        throttle=SmartDashboard::GetNumber("ShooterButtonPower7");
-      }else if(Lstick.GetRawButton(8)){
-        throttle=SmartDashboard::GetNumber("ShooterButtonPower8");
-      }
-      //}}}
-      //Shooter upLimit{{{
-      if(Lstick.GetRawButton(3)){
-        upLimit=100.0f;
-      }
-      if(Lstick.GetRawButton(4)){
-        upLimit=120.0f;
-      }
-      if(Lstick.GetRawButton(5)){
-        upLimit=90.0f;
-      }
-      if(Lstick.GetRawButton(6)){
-        upLimit=130.0f;
-      }
-      //}}}
-        //Shoot{{{
-      if(Lstick.GetRawButton(1)==1){
-        shooter_idle=false; //Cause the robot to start the shooting sequence
-      }
-        //}}}
-      //Collector Arm{{{
-      if(Rstick.GetRawButton(9)==1){
-        SmartDashboard::PutBoolean("CollectorState",true);
-        collectorExtended=true;
-        collectorSole1.Set(false);
-        collectorSole2.Set(true);
-      }else if(Rstick.GetRawButton(10)==1){
-        SmartDashboard::PutBoolean("CollectorState",false);
-        collectorExtended=false;
-        collectorSole1.Set(true);
-        collectorSole2.Set(false);
-      }
-      //}}}
-      //Collector Motor{{{
-      if(Rstick.GetRawButton(1)==1&&50>=(potToDegrees(armPot.GetAverageVoltage()))){
-        setMotorValue(6,1,1);
-      }else if(Rstick.GetRawButton(2)==1){
-        setMotorValue(6,1,255);
-      }else if(shooter_idle==true){
-        setMotorValue(6,1,0);
-      }
-      //}}}
-      //}}}
-      //Driving{{{
-      driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
-      //printf("GetY: %f, GetX/Z: %f\n", Rstick.GetY()),((Rstick.GetZ()+Rstick.GetX()));
-      //}}}
-      if(shooter_idle==false){ //Start the shooting sequence by telling the robot the arm needs to complete a shot (and isn't finished yet)
-        if(shooter_fired(2)==false){ //Only do this if the shooter hasn't "fired" (in the upwards state)
-          shooter_fire(shooter_clear_to_fire(), throttle, upLimit, potToDegrees(armPot.GetAverageVoltage()));
-        }
-        if(shooter_fired(2)==true){
-          //After the shooter has fired, lower the shooter arm then reset the whole shooting sequence
-          shooter_lower(-0.1, 40, potToDegrees(armPot.GetAverageVoltage()));
-        }
-      }
-      if(shooter_idle==true){
-        //Stop the shooter if it should be idle
-        shooter_stop();
-      }
-      runCompressor(i,100);
-      updateDashboard();
-      i++;
-      Wait(0.005f);
-    }
-    compressing=false;
-    compressor.Stop();
-  }
-  //}}}
-  //Test{{{
-  void Test(){
-    int i=0;
-    while(IsEnabled()&&IsTest()){
-      i++;
-      Wait(0.005f);
-    }
-  }
-  //}}}
-};
-START_ROBOT_CLASS(RobotDemo);
\ No newline at end of file