diff --git a/MyRobot.cpp b/MyRobot.cpp
index 3b0e2a4..409d218 100644
--- a/MyRobot.cpp
+++ b/MyRobot.cpp
@@ -11,11 +11,11 @@ class RobotDemo : public SimpleRobot
 {
   RobotDrive myRobot;
   //Joystick button inputs
-  int buttonOneState, buttonTwoState, buttonFiveState, buttonSixState, buttonEightState, buttonSevenState, buttonNineState, buttonTenState, buttonTwelveState, LbuttonOneState, LbuttonTwoState, LbuttonSevenState, LbuttonEightState,LbuttonNineState, LbuttonTenState, LbuttonElevenState, LbuttonTwelveState;
-  float potVal,multiplier, servoXState, servoYState, x, y, throttle, ServoXJoyPos, ServoYJoyPos;
-  int leftPower, rightPower, cameraMode;
+  int buttonOneState, buttonTwoState, buttonFiveState, buttonSixState, buttonEightState, buttonSevenState, buttonNineState, buttonTenState, buttonTwelveState, LbuttonOneState, LbuttonTwoState, LbuttonSevenState, LbuttonEightState, LbuttonNineState, LbuttonTenState, LbuttonElevenState, LbuttonTwelveState;
+  float potVal, multiplier, servoXState, servoYState, throttle, ServoXJoyPos, ServoYJoyPos;
+  int cameraMode;
   int cameraPreset, collectorSpeed;
-  bool collectorExtended,toggleCollector;
+  bool collectorExtended, toggleCollector;
   int lastToggle;
   bool shooting, compressing;
   float DownSpeed, downLimit, upLimit;
@@ -26,12 +26,12 @@ class RobotDemo : public SimpleRobot
   DigitalInput pneumaticLS, shootTopLS, shootBottomLS;
   Relay collectorSpike, lightingSpike;
   Compressor compressor;
-  Jaguar Left1,Left2,Left3,Right1,Right2,Right3, RightArmMotor1,RightArmMotor2, LeftArmMotor1,LeftArmMotor2,CollectorMotor1;
+  Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1;
   //Pot
   //AnalogChannel armPot;
   AnalogChannel armPot;
   //Ultrasonic
-  AnalogChannel BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
+  AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
 public:
   RobotDemo():
     //Joysticks
@@ -46,7 +46,7 @@ public:
     WallSonicRight(4),
     //Compressor
     //compressor(2,3,1,1),
-    compressor(2,5,1,1),//Solenoids
+    compressor(2, 5, 1, 1), //Solenoids
     collectorSole1(1),
     collectorSole2(2),
     //Limit switches
@@ -54,26 +54,26 @@ public:
     shootTopLS(2),
     shootBottomLS(3),
     //Driver Motors
-    Left1(1,1),
-    Left2(1,2),
-    Left3(1,3),
-    Right1(2,1),
-    Right2(2,2),
-    Right3(2,3),
+    Left1(1, 1),
+    Left2(1, 2),
+    Left3(1, 3),
+    Right1(2, 1),
+    Right2(2, 2),
+    Right3(2, 3),
     //Servos
-    Servo1(1,7),
-    Servo2(1,8),
+    Servo1(1, 7),
+    Servo2(1, 8),
     //Spikes
-    collectorSpike(2,7),
-    lightingSpike(2,8),
+    collectorSpike(2, 7),
+    lightingSpike(2, 8),
     //Shooter Motors
-    LeftArmMotor1(1,4),
-    LeftArmMotor2(1,5),
-    RightArmMotor1(2,4),
-    RightArmMotor2(2,5),
+    LeftArmMotor1(1, 4),
+    LeftArmMotor2(1, 5),
+    RightArmMotor1(2, 4),
+    RightArmMotor2(2, 5),
     //Collector Motor
-    CollectorMotor1(1,6),
-    myRobot(Left1,Left2,Right1,Right2) {
+    CollectorMotor1(1, 6),
+    myRobot(Left1, Left2, Right1, Right2) {
     GetWatchdog().SetEnabled(false);
   }
   void RobotInit() {
@@ -90,7 +90,7 @@ public:
     compressor.Start();
     shooting = false;
     compressing = true;
-    toggleCollector=false;
+    toggleCollector = false;
   }
   void DashboardSetup() {
     SmartDashboard::PutNumber("Throttle", throttle);
@@ -98,105 +98,111 @@ public:
     SmartDashboard::PutNumber("upLimit", upLimit);
     SmartDashboard::PutNumber("DownSpeed", 0.100);
     SmartDashboard::PutString("Auto", cmd);
-    SmartDashboard::PutNumber("collectorSpeed",127);
+    SmartDashboard::PutNumber("collectorSpeed", 127);
     SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
     //FOR DA SAMPLE TEXT BOT POT
     //min: 0.04803774
     //max: 0.05024723
     //(#-0.04803774)/0.05024723
     //Ultrasonic
-    SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Log Level",1);
+    SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Log Level", 1);
   }
   void updateDashboard() {
     SmartDashboard::PutNumber("Throttle", throttle);
     collectorSpeed = SmartDashboard::GetNumber("collectorSpeed");
     SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
     //Ultrasonic
-    SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
-    SmartDashboard::PutNumber("Tanval",tan((WallSonicLeft.GetAverageVoltage()-WallSonicRight.GetAverageVoltage())/18.0f));
+    SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
+    SmartDashboard::PutNumber("Tanval", tan((WallSonicLeft.GetAverageVoltage() - WallSonicRight.GetAverageVoltage()) / 18.0f));
     DownSpeed = SmartDashboard::GetNumber("DownSpeed");
     downLimit = SmartDashboard::GetNumber("downLimit");
     upLimit = SmartDashboard::GetNumber("upLimit");
-    if(downLimit < 35){
+    if (downLimit < 35) {
       downLimit = 35;
     }
-    if(upLimit > 167){
+    if (upLimit > 167) {
       upLimit = 167;
     }
   }
   void buttonUpdate() {
     //Right joystick input
-    buttonOneState=Rstick.GetRawButton(1);
-    buttonTwoState=Rstick.GetRawButton(2);
-    buttonFiveState=Rstick.GetRawButton(5);
-    buttonSixState=Rstick.GetRawButton(6);
-    buttonSevenState=Rstick.GetRawButton(7);
-    buttonEightState=Rstick.GetRawButton(8);
-    buttonNineState=Rstick.GetRawButton(9);
-    buttonTenState=Rstick.GetRawButton(10);
-    buttonTwelveState=Rstick.GetRawButton(12);
+    buttonOneState = Rstick.GetRawButton(1);
+    buttonTwoState = Rstick.GetRawButton(2);
+    buttonFiveState = Rstick.GetRawButton(5);
+    buttonSixState = Rstick.GetRawButton(6);
+    buttonSevenState = Rstick.GetRawButton(7);
+    buttonEightState = Rstick.GetRawButton(8);
+    buttonNineState = Rstick.GetRawButton(9);
+    buttonTenState = Rstick.GetRawButton(10);
+    buttonTwelveState = Rstick.GetRawButton(12);
     //Left joystick input
-    LbuttonOneState=Lstick.GetRawButton(1);
-    LbuttonTwoState=Lstick.GetRawButton(2);
-    LbuttonSevenState=Lstick.GetRawButton(7);
-    LbuttonEightState=Lstick.GetRawButton(8);
-    LbuttonNineState=Lstick.GetRawButton(9);
-    LbuttonTenState=Lstick.GetRawButton(10);
-    LbuttonElevenState=Lstick.GetRawButton(11);
-    LbuttonTwelveState=Lstick.GetRawButton(12);
+    LbuttonOneState = Lstick.GetRawButton(1);
+    LbuttonTwoState = Lstick.GetRawButton(2);
+    LbuttonSevenState = Lstick.GetRawButton(7);
+    LbuttonEightState = Lstick.GetRawButton(8);
+    LbuttonNineState = Lstick.GetRawButton(9);
+    LbuttonTenState = Lstick.GetRawButton(10);
+    LbuttonElevenState = Lstick.GetRawButton(11);
+    LbuttonTwelveState = Lstick.GetRawButton(12);
   }
-  void getJoystickAxis() {
-    y=Rstick.GetX()*multiplier;
-    x=-Rstick.GetY()*multiplier;
-    throttle=(-Lstick.GetRawAxis(4)+1.0f)/2.0f;
-    leftPower=((y+x)/2+1)*127+1;
-    rightPower=((y-x)/2+1)*127+1;
+  shootRobot(int power) {
+    setMotorValue(4, 1, cvt(power));
+    setMotorValue(5, 1, cvt(power));
+    setMotorValue(4, 2, cvt(-power));
+    setMotorValue(5, 2, cvt(-power));
   }
-  void updateMotors() {
-    setMotorValue(1,1,leftPower);
-    setMotorValue(2,1,leftPower);
-    setMotorValue(3,1,leftPower);
-    setMotorValue(1,2,rightPower);
-    setMotorValue(2,2,rightPower);
-    setMotorValue(3,2,rightPower);
+  log(string message,int level){
+    if((int)SmartDashboard::GetNumber("Log Level") % level == 0){
+      printf(message+"\n");
+    }
+  }
+  driveRobot(int x, int y) {
+    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);
   }
   //camera functions
-  void camerafaceManual(int changex,int changey) {
-    servoYState=changey;
-    servoXState=changex;
-    setMotorValue(7,2,servoXState);
-    setMotorValue(8,2,servoYState);
+  void camerafaceManual(int changex, int changey) {
+    servoYState = changey;
+    servoXState = changex;
+    setMotorValue(7, 2, servoXState);
+    setMotorValue(8, 2, servoYState);
   }
   void cameraReset() {
     servoXState = 90;
     servoYState = 90;
-    setMotorValue(7,2,servoXState);
-    setMotorValue(8,2,servoYState);
+    setMotorValue(7, 2, servoXState);
+    setMotorValue(8, 2, servoYState);
   }
   float voltToDistance(float a) {
-    return a/0.00488f/2.54f;
+    return a / 0.00488f / 2.54f;
   }
-  float potToDegrees(float a){ // a 5.024
+  float potToDegrees(float a) { // a 5.024
     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));
+    float b = a - max;
+    min = min - max; // ~5.0027
+    max = max - max; //=0
+    return 300 - ((b + max) * (300 / min));
   }
   int cvt(float input) {
-    return input*127.0f+128;
+    return input * 127.0f + 128;
   }
-  void setMotorValue(int motor,int subwayStation=1,int value=127) {
-    if(subwayStation==1) {
-      switch(motor) {
+  void setMotorValue(int motor, int subwayStation = 1, int value = 127) {
+    if (subwayStation == 1) {
+      switch (motor) {
         //Drive motors
       case 1:
         Left1.SetRaw(value);
@@ -225,8 +231,8 @@ public:
       case 10:
         break;
       }
-    } else if(subwayStation==2) {
-      switch(motor) {
+    } else if (subwayStation == 2) {
+      switch (motor) {
         //Shooter motors
       case 1:
         Right1.SetRaw(value);
@@ -258,35 +264,16 @@ public:
       }
     }
   }
-  bool checkSafety() {
-    //Some function that will be called to make sure the collector is out before the shooter is raised
-    if(collectorExtended == true) {
-      if((int)SmartDashboard::GetNumber("Log Level")%17==0){
-        printf("Collector is extended, not going to fire\n");
-      }
-      return false;
-    }
-    if(collectorExtended == false) {
-      if((int)SmartDashboard::GetNumber("Log Level")%17==0){
-        printf("Collector is NOT extended, going to fire\n");
-      }
-      return true;
-    }
-  }
   void alignRobot() {
-    float yoyo=atan(voltToDistance(WallSonicLeft.GetAverageVoltage())-voltToDistance(WallSonicRight.GetAverageVoltage()))/18.0f;
+    float yoyo = atan(voltToDistance(WallSonicLeft.GetAverageVoltage()) - voltToDistance(WallSonicRight.GetAverageVoltage())) / 18.0f;
     SmartDashboard::PutNumber("Distance", yoyo);
   }
-  void Test() {
-  }
+  void Test() {}
   void Autonomous() {
     myRobot.SetSafetyEnabled(false);
     //compressor.Start();
-    cmd=SmartDashboard::GetString("Auto");
+    cmd = SmartDashboard::GetString("Auto");
     //vector<cCommand> cmds = getCommands((std::string)cmd);
-    if((int)SmartDashboard::GetNumber("Log Level")%7==0){
-      printf(((std::string)cmd).c_str());
-    }
     //d-p255-d10;w-t10
     //(10,255)d
     //10d drive 10 feet
@@ -299,59 +286,41 @@ public:
     int i = 0;
     collectorSole1.Set(true);
     collectorSole2.Set(false);
-    compressor.Start();
-    while(IsEnabled()&&IsAutonomous()) {
-      if(200>i){
-        leftPower=1;
-        rightPower=255;
-      }else if(i==200){
-        leftPower=127;
-        rightPower=127;
+    compressing=false;
+    while (IsEnabled() && IsAutonomous()) {
+      if (200 > i) {
+        driveRobot(0, 1);
+      } else if (i == 200) {
+        driveRobot(0, 0);
         collectorSole1.Set(false);
         collectorSole2.Set(true);
-      }else if(i>600&&120>=potToDegrees(armPot.GetAverageVoltage())){
-        leftPower=127;
-        rightPower=127;
-        setMotorValue(4,1,cvt(1));
-        setMotorValue(5,1,cvt(1));
-        setMotorValue(4,2,cvt(-1));
-        setMotorValue(5,2,cvt(-1));
-        setMotorValue(6,1,1);
-      }else{
-        leftPower=127;
-        rightPower=127;
-        setMotorValue(4,1,127);
-        setMotorValue(5,1,127);
-        setMotorValue(4,2,127);
-        setMotorValue(5,2,127);
-        setMotorValue(6,1,127);
+      } else if (i > 600 && 120 >= potToDegrees(armPot.GetAverageVoltage())) {
+        driveRobot(0, 0);
+        shootRobot(1);
+        setMotorValue(6, 1, 1);
+      } else {
+        driveRobot(0, 0);
+        shootRobot(0);
+        setMotorValue(6, 1, 127);
       }
-      updateMotors();
       updateDashboard();
       i++;
-      if(i%100==0 && compressing && compressor.GetPressureSwitchValue()==1) {
+      if (i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
         compressor.Stop();
         compressing = false;
-        if((int)SmartDashboard::GetNumber("Log Level")%2==0){
-          printf("Stopping the compressor\n");
-        }
+        log("Stopping the compressor",2);
       }
-      if(i%100==0 && !compressing && compressor.GetPressureSwitchValue()==0) {
+      if (i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
         compressor.Start();
-        compressing=true;
-        if((int)SmartDashboard::GetNumber("Log Level")%2==0){
-          printf("Starting the compressor again\n");
-        }
+        compressing = true;
+        log("Starting the compressor again",2);
       }
       Wait(0.005f);
       /*
       if(commandIndex < cmds.size()) {
         if(cmds[commandIndex].Function == "d") {
           if(i*1000 < cmds[commandIndex].Amount) {
-            setMotorValue(4,1,255);
-            setMotorValue(5,1,255);
-            setMotorValue(4,2,255);
-            setMotorValue(5,2,255);
+            shootRobot(1);
           } else {
             commandIndex++;
             i=0;
@@ -365,50 +334,34 @@ public:
       }
       */
     }
-    compressing=false;
+    compressing = false;
     compressor.Stop();
   }
   void OperatorControl() {
     myRobot.SetSafetyEnabled(false);
-    int i=0;
+    int i = 0;
     collectorSole1.Set(true);
     collectorSole2.Set(false);
-    compressing=false;
-    if((int)SmartDashboard::GetNumber("Log Level")%1==0){
-      printf("Starting Teleop\n");
-    }
-    while(IsEnabled()&&IsOperatorControl()) {
-      getJoystickAxis();
+    compressing = false;
+    log("Starting Teleop",1);
+    while (IsEnabled() && IsOperatorControl()) {
+      driveRobot(Lstick.GetX, Lstick.GetY);
       //Log things
-      if(i%200==0) {
-        if((int)SmartDashboard::GetNumber("Log Level")%2==0){
-          printf("%d",compressor.GetPressureSwitchValue());
-        }
-        if((int)SmartDashboard::GetNumber("Log Level")%3==0){
-          printf("Throttle values: (%f,%f,%f)\n", throttle,128-(throttle*127.0f),(throttle*127.0f)+128);
-          printf("X,Y: (%f,%f)\n", x, y);
-          printf("Pitchfork values: (%f,%f)\n", leftPower, rightPower);
-        }
-        if((int)SmartDashboard::GetNumber("Log Level")%11==0){
-          printf("armPot value: %f\n",armPot.GetAverageVoltage());
-          printf("Converted armPot value: %f\n",potToDegrees(armPot.GetAverageVoltage()));
-        }
+      if (i % 200 == 0) {
+        log(to_string(compressor.GetPressureSwitchValue()),2);
+        log("armPot value: "+to_string(armPot.GetAverageVoltage(),11));
+        log("Converted armPot value: "+to_string(armPot.GetAverageVoltage(),11));
       }
-      if(i%100==0 && compressing && compressor.GetPressureSwitchValue()==1) {
+      if (i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
         compressor.Stop();
         compressing = false;
-        if((int)SmartDashboard::GetNumber("Log Level")%2==0){
-          printf("Stopping the compressor\n");
-        }
+        log("Stopping the compressor",2);
       }
-      if(i%100==0 && !compressing && compressor.GetPressureSwitchValue()==0) {
+      if (i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
         compressor.Start();
-        compressing=true;
-        if((int)SmartDashboard::GetNumber("Log Level")%2==0){
-          printf("Starting the compressor again\n");
-        }
+        compressing = true;
+        log("Starting the compressor... again",2);
       }
-      updateMotors();
       buttonUpdate();
       updateDashboard();
       /*
@@ -433,84 +386,58 @@ public:
         }
       }
       */
-      if(LbuttonOneState==1&&upLimit>=potToDegrees(armPot.GetAverageVoltage())) {
+      if (LbuttonOneState == 1 && upLimit >= potToDegrees(armPot.GetAverageVoltage())) {
         //Move arm motors based on throttle
-        if(collectorExtended == false) {
-          shooting=false;
-          if((int)SmartDashboard::GetNumber("Log Level")%17==0){
-            printf("Collector is notextended, not going to fire\n");
-          }
-        }
-        if(collectorExtended == true) {
-          shooting = true;
-          if((int)SmartDashboard::GetNumber("Log Level")%13==0){
-            printf("Firing %d\n",cvt(-throttle));
-          }
-          if((int)SmartDashboard::GetNumber("Log Level")%17==0){
-            printf("Collector is NOT not extended, going to fire\n");
-          }
-          setMotorValue(4,1,cvt(throttle));
-          setMotorValue(5,1,cvt(throttle));
-          setMotorValue(4,2,cvt(-throttle));
-          setMotorValue(5,2,cvt(-throttle));
-          setMotorValue(6,1,1);
-        }
-      } else if (LbuttonOneState==1&&upLimit<=potToDegrees(armPot.GetAverageVoltage())) {
-        shooting = false;
-        if((int)SmartDashboard::GetNumber("Log Level")%13==0){
-          printf("Stopping Shooter Motor\n");
-        }
-        if((int)SmartDashboard::GetNumber("Log Level")%17==0){
-          printf("Stopping Collector Motor");
-        }
-        setMotorValue(4,1,127);//arms
-        setMotorValue(5,1,127);
-        setMotorValue(4,2,127);
-        setMotorValue(5,2,127);
-      } else if(LbuttonTwoState==1) {
-        //Reverse the arm motors
-        shooting = false;
-        if(collectorExtended == false) {
-          if((int)SmartDashboard::GetNumber("Log Level")%17==0){
-            printf("Collector is not extended, not going to fire\n");
-          }
+        if (collectorExtended == false) {
+          shooting = false;
+          log("Collector is notextended, not going to fire",17);
         }
         if (collectorExtended == true) {
-          setMotorValue(4,1,cvt(-DownSpeed));
-          setMotorValue(5,1,cvt(-DownSpeed));
-          setMotorValue(4,2,cvt(DownSpeed));
-          setMotorValue(5,2,cvt(DownSpeed));
-          if((int)SmartDashboard::GetNumber("Log Level")%17==0){
-            printf("Collector is  extended, going to fire\n");
-          }
+          shooting = true;
+          log("Firing",13);
+          log("Collector is NOT not extended, going to fire",17);
+          shootRobot(throttle);
+          setMotorValue(6, 1, 1);
+        }
+      } else if (LbuttonOneState == 1 && upLimit <= potToDegrees(armPot.GetAverageVoltage())) {
+        shooting = false;
+        log("Stopping shooter motor",13);
+        log("Stopping collector motor",17);
+        shootRobot(0);
+      } else if (LbuttonTwoState == 1) {
+        //Reverse the arm motors
+        shooting = false;
+        if (collectorExtended == false) {
+          log("Collector is not extended, not going to fire",17);
+        }
+        if (collectorExtended == true) {
+          shootRobot(-DownSpeed);
+          log("Collector is  extended, going to fire",17);
         }
       } else {
-        shooting=false;
+        shooting = false;
         //Stop all motors
-        setMotorValue(4,1,127);
-        setMotorValue(5,1,127);
-        setMotorValue(4,2,127);
-        setMotorValue(5,2,127);
+        shootRobot(0);
       }
-      if(buttonNineState) {
+      if (buttonNineState) {
         collectorExtended = true;
         collectorSole1.Set(false);
         collectorSole2.Set(true);
-      } else if(buttonTenState) {
+      } else if (buttonTenState) {
         collectorExtended = false;
         collectorSole1.Set(true);
         collectorSole2.Set(false);
       }
-      if(LbuttonElevenState) {
-        setMotorValue(6,1,1);
-      } else if(LbuttonTwelveState) {
-        setMotorValue(6,1,255);
-      } else if(!shooting){
-        setMotorValue(6,1,127);
+      if (LbuttonElevenState) {
+        setMotorValue(6, 1, 1);
+      } else if (LbuttonTwelveState) {
+        setMotorValue(6, 1, 255);
+      } else if (!shooting) {
+        setMotorValue(6, 1, 127);
       }
       //Camera directions
-      camerafaceManual(LbuttonTwelveState-LbuttonElevenState,LbuttonEightState-LbuttonTenState);
-      if(buttonNineState==1) {
+      camerafaceManual(LbuttonTwelveState - LbuttonElevenState, LbuttonEightState - LbuttonTenState);
+      if (buttonNineState == 1) {
         //cameraReset();
       }
       i++;