diff --git a/MyRobot.cpp b/MyRobot.cpp
deleted file mode 100644
index ac9a812..0000000
--- a/MyRobot.cpp
+++ /dev/null
@@ -1,655 +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;
-  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(2,5,1,1),
-    //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);
-  }
-  //}}}
-  //RobotInit{{{
-  void RobotInit(){
-    DashboardSetup();
-    upLimit=130.0;
-    compressor.Start();
-    shooting=false;
-    compressing=true;
-    allowCompressing=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);
-    //Ultrasonic
-    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()));
-    //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);
-    //Battery voltage
-  }
-  //}}}
-  //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;
-    }
-  }
-  //}}}
-  //shootRobot{{{
-  void shootRobot(float power=0){
-    setMotorValue(4,1,cvt(power));
-    setMotorValue(5,1,cvt(power));
-    setMotorValue(4,2,cvt(-power));
-    setMotorValue(5,2,cvt(-power));
-  }
-  //}}}
-  //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/=2;
-      y/=2;
-    }
-    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();
-    }
-  }
-  //}}}
-  //updateJoystick{{{
-  int updateJoystick(*stick){
-    for(i=1,i<=12,i++){
-      state[i]=stick.GetRawButton(i);
-    }
-    return state;
-  }
-  //}}}
-  //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::GetBoolean("HalfPower")){
-        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);
-    ShootStick = *updateJoystick(joystick &Lstick);
-    DriveStick = *updateJoystick(joystick &Rstick);
-    //}}}
-    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;
-      }
-      //}}}
-      if(Lstick.GetRawButton(1)==1){
-        //Shoot{{{
-        shooting=true;
-        setMotorValue(6,1,1);
-        if(collectorExtended==false){
-          shooting=false;
-        }
-        //shootRobot(throttle);
-        //TODO: test this code, we don't know if it works, but if it does not, run this code: ^
-        if(collectorExtended==true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))){
-          shooting=true;
-          shootRobot(throttle);
-          setMotorValue(6,1,1);
-        }else{
-          shooting=false;
-          shootRobot(0.0f);
-          setMotorValue(6,1,0);
-        }
-        //}}}
-      }else if(Lstick.GetRawButton(2)==1){
-        //Lower Shooter{{{
-        shooting=false;
-        shootRobot(-0.1f);
-        if(collectorExtended==true){
-          shootRobot(-0.1f);
-        }
-        //}}}
-      }else{
-        //Stop Shooting{{{
-        shooting=false;
-        shootRobot(0.0f);
-        //}}}
-      }
-      if(Rstick.GetRawButton(9)==1){
-        //Extend Collector{{{
-        SmartDashboard::PutBoolean("CollectorState",true);
-        collectorExtended=true;
-        collectorSole1.Set(false);
-        collectorSole2.Set(true);
-        //}}}
-      }else if(Rstick.GetRawButton(10)==1){
-        //Retract Collector{{{
-        SmartDashboard::PutBoolean("CollectorState",false);
-        collectorExtended=false;
-        collectorSole1.Set(true);
-        collectorSole2.Set(false);
-        //}}}
-      }
-      //Collector Motor{{{
-      if(Lstick.GetRawButton(11)==1&&50<=potToDegrees(armPot.GetAverageVoltage())){
-        setMotorValue(6,1,1);
-      }else if(Lstick.GetRawButton(12)==1){
-        setMotorValue(6,1,255);
-      }else if(!shooting){
-        setMotorValue(6,1,0);
-      }
-      //}}}
-      //}}}
-      //Driving{{{
-      if(Rstick.GetRawButton(1)){
-        if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
-          driveRobot(1.0f,SmartDashboard::GetNumber("AutoCorrection"));
-        }else{
-          driveRobot(0.0f,0.0f);
-        }
-      }else{
-        if(SmartDashboard::GetBoolean("Daniel Mode")){
-          driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
-        }else{
-          driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
-        }
-      }
-      //}}}
-      //Compressor{{{
-      if(SmartDashboard::GetBoolean("Compressor Enabled")){
-        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);