diff --git a/.gradle/4.4/fileHashes/fileHashes.bin b/.gradle/4.4/fileHashes/fileHashes.bin
index a1e255c..464e284 100644
Binary files a/.gradle/4.4/fileHashes/fileHashes.bin and b/.gradle/4.4/fileHashes/fileHashes.bin differ
diff --git a/.gradle/4.4/fileHashes/fileHashes.lock b/.gradle/4.4/fileHashes/fileHashes.lock
index cdee769..d54f0b0 100644
Binary files a/.gradle/4.4/fileHashes/fileHashes.lock and b/.gradle/4.4/fileHashes/fileHashes.lock differ
diff --git a/.idea/compiler.xml b/.idea/compiler.xml
index 02c9a25..87ad982 100644
--- a/.idea/compiler.xml
+++ b/.idea/compiler.xml
@@ -4,6 +4,8 @@
     <bytecodeTargetLevel>
       <module name="austincans_2018_main" target="1.8" />
       <module name="austincans_2018_test" target="1.8" />
+      <module name="RobotCode_2018_main" target="1.8" />
+      <module name="RobotCode_2018_test" target="1.8" />
     </bytecodeTargetLevel>
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 77e9972..617e861 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -5,12 +5,13 @@
       <GradleProjectSettings>
         <option name="distributionType" value="DEFAULT_WRAPPED" />
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="#JAVA_HOME" />
+        <option name="gradleJvm" value="1.8" />
         <option name="modules">
           <set>
-            <option value="$PROJECT_DIR$" />
+            <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
           </set>
         </option>
+        <option name="useAutoImport" value="true" />
       </GradleProjectSettings>
     </option>
   </component>
diff --git a/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml b/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml
index df46b41..92b8ef0 100644
--- a/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml
+++ b/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: edu.wpi.first.cscore:cscore-java:1.1.0">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cscore/cscore-java/1.1.0/89fb12244cef59046d8b23ad332651d3b2503e96/cscore-java-1.1.0.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cscore/cscore-java/1.1.0/89fb12244cef59046d8b23ad332651d3b2503e96/cscore-java-1.1.0.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cscore/cscore-java/1.1.0/c56f19be2fcb805d8442b25291e2fdc1b118e480/cscore-java-1.1.0-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.cscore/cscore-java/1.1.0/c56f19be2fcb805d8442b25291e2fdc1b118e480/cscore-java-1.1.0-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml b/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml
index dbd3739..0e26cd5 100644
--- a/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml
+++ b/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: edu.wpi.first.ntcore:ntcore-java:4.0.0">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.ntcore/ntcore-java/4.0.0/990c1034226bc7fd81d2a21ee3de08ba477fbcfb/ntcore-java-4.0.0.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.ntcore/ntcore-java/4.0.0/990c1034226bc7fd81d2a21ee3de08ba477fbcfb/ntcore-java-4.0.0.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.ntcore/ntcore-java/4.0.0/43b974107629beb83d40c0ac43d92107343056ac/ntcore-java-4.0.0-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.ntcore/ntcore-java/4.0.0/43b974107629beb83d40c0ac43d92107343056ac/ntcore-java-4.0.0-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml b/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml
index b03b5df..6e126da 100644
--- a/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml
+++ b/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: edu.wpi.first.wpilibj:wpilibj-java:2018.1.1">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/359c51bfd879c57dbc63157df3df66235980865/wpilibj-java-2018.1.1.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/359c51bfd879c57dbc63157df3df66235980865/wpilibj-java-2018.1.1.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml b/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml
index b8f1e30..bfdf46d 100644
--- a/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml
+++ b/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: edu.wpi.first.wpiutil:wpiutil-java:3.0.0">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpiutil/wpiutil-java/3.0.0/d84261f299dfb9c953334e600c331c28640a074/wpiutil-java-3.0.0.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpiutil/wpiutil-java/3.0.0/d84261f299dfb9c953334e600c331c28640a074/wpiutil-java-3.0.0.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpiutil/wpiutil-java/3.0.0/950917d431d417eea7f1f90cba3d144ede38814b/wpiutil-java-3.0.0-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpiutil/wpiutil-java/3.0.0/950917d431d417eea7f1f90cba3d144ede38814b/wpiutil-java-3.0.0-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml b/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml
index ae7d24f..d33dd26 100644
--- a/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml
+++ b/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: openrio.mirror.third.ctre:CTRE-phoenix-java:5.1.2.1">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/420d7e83c54d4a19446355e6f544c2a92e18a65d/CTRE-phoenix-java-5.1.2.1.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/420d7e83c54d4a19446355e6f544c2a92e18a65d/CTRE-phoenix-java-5.1.2.1.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/a6524440658bcd925d5bbd06e84b3cd6ba80c4a7/CTRE-phoenix-java-5.1.2.1-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/a6524440658bcd925d5bbd06e84b3cd6ba80c4a7/CTRE-phoenix-java-5.1.2.1-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml b/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml
index 6193fae..b185fc5 100644
--- a/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml
+++ b/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: openrio.mirror.third.kauailabs:navx-java:3.0.342">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.kauailabs/navx-java/3.0.342/4af029f506ed05dda2625ba93692b3a31f40e71a/navx-java-3.0.342.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.kauailabs/navx-java/3.0.342/4af029f506ed05dda2625ba93692b3a31f40e71a/navx-java-3.0.342.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.kauailabs/navx-java/3.0.342/35a06a0b5be816d2e88139e1a3529148fab3a675/navx-java-3.0.342-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.kauailabs/navx-java/3.0.342/35a06a0b5be816d2e88139e1a3529148fab3a675/navx-java-3.0.342-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml b/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml
index da7eacf..74f21d1 100644
--- a/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml
+++ b/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: openrio.powerup:MatchData:2018.01.07">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/openrio.powerup/MatchData/2018.01.07/30351a05ab4661f0ee307e782747fe4ba8bfe866/MatchData-2018.01.07.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.powerup/MatchData/2018.01.07/30351a05ab4661f0ee307e782747fe4ba8bfe866/MatchData-2018.01.07.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/openrio.powerup/MatchData/2018.01.07/5621fbfada81352fb32981607a0ae4310163e9e9/MatchData-2018.01.07-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.powerup/MatchData/2018.01.07/5621fbfada81352fb32981607a0ae4310163e9e9/MatchData-2018.01.07-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml b/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml
index cdf1694..0cc0410 100644
--- a/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml
+++ b/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml
@@ -1,11 +1,11 @@
 <component name="libraryTable">
   <library name="Gradle: org.opencv:opencv-java:3.2.0">
     <CLASSES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/org.opencv/opencv-java/3.2.0/c65e242eaf6ff4b086d45b0254f4511b6a072a65/opencv-java-3.2.0.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/org.opencv/opencv-java/3.2.0/c65e242eaf6ff4b086d45b0254f4511b6a072a65/opencv-java-3.2.0.jar!/" />
     </CLASSES>
     <JAVADOC />
     <SOURCES>
-      <root url="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/org.opencv/opencv-java/3.2.0/da5215ba2c023701a644802a1fcd93749061f90d/opencv-java-3.2.0-sources.jar!/" />
+      <root url="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/org.opencv/opencv-java/3.2.0/da5215ba2c023701a644802a1fcd93749061f90d/opencv-java-3.2.0-sources.jar!/" />
     </SOURCES>
   </library>
 </component>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
index 9b11cf9..dffc1ad 100644
--- a/.idea/modules.xml
+++ b/.idea/modules.xml
@@ -2,9 +2,9 @@
 <project version="4">
   <component name="ProjectModuleManager">
     <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/modules/austincans_2018.iml" filepath="$PROJECT_DIR$/.idea/modules/austincans_2018.iml" />
-      <module fileurl="file://$PROJECT_DIR$/.idea/modules/austincans_2018_main.iml" filepath="$PROJECT_DIR$/.idea/modules/austincans_2018_main.iml" group="austincans_2018" />
-      <module fileurl="file://$PROJECT_DIR$/.idea/modules/austincans_2018_test.iml" filepath="$PROJECT_DIR$/.idea/modules/austincans_2018_test.iml" group="austincans_2018" />
+      <module fileurl="file://$PROJECT_DIR$/.idea/modules/-838270129/RobotCode_2018.iml" filepath="$PROJECT_DIR$/.idea/modules/-838270129/RobotCode_2018.iml" />
+      <module fileurl="file://$PROJECT_DIR$/.idea/modules/-838270129/RobotCode_2018_main.iml" filepath="$PROJECT_DIR$/.idea/modules/-838270129/RobotCode_2018_main.iml" group="RobotCode_2018" />
+      <module fileurl="file://$PROJECT_DIR$/.idea/modules/-838270129/RobotCode_2018_test.iml" filepath="$PROJECT_DIR$/.idea/modules/-838270129/RobotCode_2018_test.iml" group="RobotCode_2018" />
     </modules>
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/modules/-838270129/RobotCode_2018.iml b/.idea/modules/-838270129/RobotCode_2018.iml
new file mode 100644
index 0000000..afce1f5
--- /dev/null
+++ b/.idea/modules/-838270129/RobotCode_2018.iml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module external.linked.project.id="RobotCode_2018" external.linked.project.path="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" external.root.project.path="$MODULE_DIR$/../../.." external.system.id="GRADLE" external.system.module.group="" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018">
+      <excludeFolder url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle" />
+      <excludeFolder url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/build" />
+      <excludeFolder url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/out" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/modules/-838270129/RobotCode_2018_main.iml b/.idea/modules/-838270129/RobotCode_2018_main.iml
new file mode 100644
index 0000000..a421678
--- /dev/null
+++ b/.idea/modules/-838270129/RobotCode_2018_main.iml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module external.linked.project.id="RobotCode_2018:main" external.linked.project.path="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" external.root.project.path="$MODULE_DIR$/../../.." external.system.id="GRADLE" external.system.module.group="" external.system.module.type="sourceSet" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" LANGUAGE_LEVEL="JDK_1_8">
+    <output url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/out/production/classes" />
+    <exclude-output />
+    <content url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main">
+      <sourceFolder url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java" isTestSource="false" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.wpilibj:wpilibj-java:2018.1.1" level="project" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.ntcore:ntcore-java:4.0.0" level="project" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.wpiutil:wpiutil-java:3.0.0" level="project" />
+    <orderEntry type="library" name="Gradle: org.opencv:opencv-java:3.2.0" level="project" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.cscore:cscore-java:1.1.0" level="project" />
+    <orderEntry type="library" name="Gradle: openrio.mirror.third.ctre:CTRE-phoenix-java:5.1.2.1" level="project" />
+    <orderEntry type="library" name="Gradle: openrio.mirror.third.kauailabs:navx-java:3.0.342" level="project" />
+    <orderEntry type="library" name="Gradle: openrio.powerup:MatchData:2018.01.07" level="project" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/modules/-838270129/RobotCode_2018_test.iml b/.idea/modules/-838270129/RobotCode_2018_test.iml
new file mode 100644
index 0000000..b4a8945
--- /dev/null
+++ b/.idea/modules/-838270129/RobotCode_2018_test.iml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module external.linked.project.id="RobotCode_2018:test" external.linked.project.path="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" external.root.project.path="$MODULE_DIR$/../../.." external.system.id="GRADLE" external.system.module.group="" external.system.module.type="sourceSet" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" LANGUAGE_LEVEL="JDK_1_8">
+    <output-test url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/out/test/classes" />
+    <exclude-output />
+    <content url="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/test" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="module" module-name="RobotCode_2018_main" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.wpilibj:wpilibj-java:2018.1.1" level="project" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.ntcore:ntcore-java:4.0.0" level="project" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.wpiutil:wpiutil-java:3.0.0" level="project" />
+    <orderEntry type="library" name="Gradle: org.opencv:opencv-java:3.2.0" level="project" />
+    <orderEntry type="library" name="Gradle: edu.wpi.first.cscore:cscore-java:1.1.0" level="project" />
+    <orderEntry type="library" name="Gradle: openrio.mirror.third.ctre:CTRE-phoenix-java:5.1.2.1" level="project" />
+    <orderEntry type="library" name="Gradle: openrio.mirror.third.kauailabs:navx-java:3.0.342" level="project" />
+    <orderEntry type="library" name="Gradle: openrio.powerup:MatchData:2018.01.07" level="project" />
+  </component>
+  <component name="TestModuleProperties" production-module="RobotCode_2018_main" />
+</module>
\ No newline at end of file
diff --git a/.idea/uiDesigner.xml b/.idea/uiDesigner.xml
new file mode 100644
index 0000000..e96534f
--- /dev/null
+++ b/.idea/uiDesigner.xml
@@ -0,0 +1,124 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Palette2">
+    <group name="Swing">
+      <item class="com.intellij.uiDesigner.HSpacer" tooltip-text="Horizontal Spacer" icon="/com/intellij/uiDesigner/icons/hspacer.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="1" hsize-policy="6" anchor="0" fill="1" />
+      </item>
+      <item class="com.intellij.uiDesigner.VSpacer" tooltip-text="Vertical Spacer" icon="/com/intellij/uiDesigner/icons/vspacer.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="1" anchor="0" fill="2" />
+      </item>
+      <item class="javax.swing.JPanel" icon="/com/intellij/uiDesigner/icons/panel.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3" />
+      </item>
+      <item class="javax.swing.JScrollPane" icon="/com/intellij/uiDesigner/icons/scrollPane.png" removable="false" auto-create-binding="false" can-attach-label="true">
+        <default-constraints vsize-policy="7" hsize-policy="7" anchor="0" fill="3" />
+      </item>
+      <item class="javax.swing.JButton" icon="/com/intellij/uiDesigner/icons/button.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="3" anchor="0" fill="1" />
+        <initial-values>
+          <property name="text" value="Button" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JRadioButton" icon="/com/intellij/uiDesigner/icons/radioButton.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
+        <initial-values>
+          <property name="text" value="RadioButton" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JCheckBox" icon="/com/intellij/uiDesigner/icons/checkBox.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
+        <initial-values>
+          <property name="text" value="CheckBox" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JLabel" icon="/com/intellij/uiDesigner/icons/label.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="0" anchor="8" fill="0" />
+        <initial-values>
+          <property name="text" value="Label" />
+        </initial-values>
+      </item>
+      <item class="javax.swing.JTextField" icon="/com/intellij/uiDesigner/icons/textField.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+          <preferred-size width="150" height="-1" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JPasswordField" icon="/com/intellij/uiDesigner/icons/passwordField.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+          <preferred-size width="150" height="-1" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JFormattedTextField" icon="/com/intellij/uiDesigner/icons/formattedTextField.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
+          <preferred-size width="150" height="-1" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTextArea" icon="/com/intellij/uiDesigner/icons/textArea.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTextPane" icon="/com/intellij/uiDesigner/icons/textPane.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JEditorPane" icon="/com/intellij/uiDesigner/icons/editorPane.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JComboBox" icon="/com/intellij/uiDesigner/icons/comboBox.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="2" anchor="8" fill="1" />
+      </item>
+      <item class="javax.swing.JTable" icon="/com/intellij/uiDesigner/icons/table.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JList" icon="/com/intellij/uiDesigner/icons/list.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="2" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTree" icon="/com/intellij/uiDesigner/icons/tree.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
+          <preferred-size width="150" height="50" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JTabbedPane" icon="/com/intellij/uiDesigner/icons/tabbedPane.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
+          <preferred-size width="200" height="200" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JSplitPane" icon="/com/intellij/uiDesigner/icons/splitPane.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
+          <preferred-size width="200" height="200" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JSpinner" icon="/com/intellij/uiDesigner/icons/spinner.png" removable="false" auto-create-binding="true" can-attach-label="true">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
+      </item>
+      <item class="javax.swing.JSlider" icon="/com/intellij/uiDesigner/icons/slider.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
+      </item>
+      <item class="javax.swing.JSeparator" icon="/com/intellij/uiDesigner/icons/separator.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3" />
+      </item>
+      <item class="javax.swing.JProgressBar" icon="/com/intellij/uiDesigner/icons/progressbar.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1" />
+      </item>
+      <item class="javax.swing.JToolBar" icon="/com/intellij/uiDesigner/icons/toolbar.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1">
+          <preferred-size width="-1" height="20" />
+        </default-constraints>
+      </item>
+      <item class="javax.swing.JToolBar$Separator" icon="/com/intellij/uiDesigner/icons/toolbarSeparator.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="0" anchor="0" fill="1" />
+      </item>
+      <item class="javax.swing.JScrollBar" icon="/com/intellij/uiDesigner/icons/scrollbar.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="0" anchor="0" fill="2" />
+      </item>
+    </group>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 94a25f7..9f7d9ba 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="VcsDirectoryMappings">
+    <mapping directory="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" vcs="Git" />
     <mapping directory="$PROJECT_DIR$" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 8d338f2..9f2c1b1 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,13 +2,17 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="a7a8f5df-c8e2-49b1-928b-69681e988993" name="Default" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/workspace.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
     </list>
     <ignored path="$PROJECT_DIR$/.gradle/" />
     <ignored path="$PROJECT_DIR$/build/" />
     <ignored path="$PROJECT_DIR$/out/" />
+    <ignored path="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/" />
+    <ignored path="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/build/" />
+    <ignored path="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/out/" />
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
-    <option name="TRACKING_ENABLED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -26,54 +30,144 @@
       </state>
     </system>
   </component>
+  <component name="FUSProjectUsageTrigger">
+    <session id="-1683344510">
+      <usages-collector id="statistics.lifecycle.project">
+        <counts>
+          <entry key="project.closed" value="1" />
+          <entry key="project.open.time.11" value="1" />
+          <entry key="project.open.time.24" value="1" />
+          <entry key="project.open.time.7" value="1" />
+          <entry key="project.opened" value="3" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.file.extensions.open">
+        <counts>
+          <entry key="java" value="44" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.file.types.open">
+        <counts>
+          <entry key="JAVA" value="44" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.vcs.git.usages">
+        <counts>
+          <entry key="git.branch.create.new" value="2" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.file.types.edit">
+        <counts>
+          <entry key="JAVA" value="542" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.file.extensions.edit">
+        <counts>
+          <entry key="java" value="542" />
+        </counts>
+      </usages-collector>
+    </session>
+  </component>
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
-      <file leaf-file-name="Robot.java" pinned="false" current-in-tab="true">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/Robot.java">
+      <file pinned="false" current-in-tab="false">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/Robot.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="418">
+              <caret line="86" column="31" lean-forward="true" selection-start-line="86" selection-start-column="31" selection-end-line="86" selection-end-column="31" />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="false">
+        <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/SpeedControllerGroup.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="139">
+              <caret line="15" column="39" lean-forward="true" selection-start-line="15" selection-start-column="39" selection-end-line="15" selection-end-column="39" />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="false">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/drive/TalonSRXGroup.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="40">
+              <caret line="32" column="42" lean-forward="true" selection-start-line="32" selection-start-column="42" selection-end-line="32" selection-end-column="42" />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="false">
+        <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/a6524440658bcd925d5bbd06e84b3cd6ba80c4a7/CTRE-phoenix-java-5.1.2.1-sources.jar!/com/ctre/phoenix/motorcontrol/can/BaseMotorController.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="295">
+              <caret line="208" column="7" lean-forward="true" selection-start-line="208" selection-start-column="7" selection-end-line="208" selection-end-column="7" />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="false">
+        <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/a6524440658bcd925d5bbd06e84b3cd6ba80c4a7/CTRE-phoenix-java-5.1.2.1-sources.jar!/com/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="272">
-              <caret line="32" column="0" lean-forward="false" selection-start-line="32" selection-start-column="0" selection-end-line="32" selection-end-column="0" />
-              <folding />
+            <state relative-caret-position="180">
+              <caret line="28" column="11" selection-start-line="28" selection-start-column="11" selection-end-line="28" selection-end-column="11" />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="RobotMap.java" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.java">
+      <file pinned="false" current-in-tab="false">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="129">
-              <caret line="23" column="0" lean-forward="false" selection-start-line="23" selection-start-column="0" selection-end-line="23" selection-end-column="0" />
-              <folding />
+            <state relative-caret-position="420">
+              <caret line="32" column="9" lean-forward="true" selection-start-line="30" selection-start-column="8" selection-end-line="32" selection-end-column="9" />
+              <folding>
+                <element signature="imports" expanded="true" />
+              </folding>
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="Intake.java" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/Intake.java">
+      <file pinned="false" current-in-tab="false">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/intake/IntakeSubsystem.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="438">
-              <caret line="32" column="13" lean-forward="false" selection-start-line="32" selection-start-column="13" selection-end-line="32" selection-end-column="13" />
-              <folding />
+            <state relative-caret-position="439">
+              <caret line="38" column="7" lean-forward="true" selection-start-line="38" selection-start-column="7" selection-end-line="38" selection-end-column="7" />
+              <folding>
+                <element signature="imports" expanded="true" />
+                <element signature="e#4671#4672#0" expanded="true" />
+                <element signature="e#4730#4731#0" expanded="true" />
+              </folding>
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="build.gradle" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/build.gradle">
+      <file pinned="false" current-in-tab="true">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="452">
-              <caret line="52" column="0" lean-forward="false" selection-start-line="52" selection-start-column="0" selection-end-line="52" selection-end-column="0" />
-              <folding />
+            <state relative-caret-position="705">
+              <caret line="51" column="15" selection-start-line="51" selection-start-column="15" selection-end-line="51" selection-end-column="15" />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="DriveSubsystem.java" pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.java">
+      <file pinned="false" current-in-tab="false">
+        <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/drive/DifferentialDrive.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="153">
-              <caret line="14" column="44" lean-forward="false" selection-start-line="14" selection-start-column="44" selection-end-line="14" selection-end-column="44" />
-              <folding />
+            <state relative-caret-position="570">
+              <caret line="47" column="39" lean-forward="true" selection-start-line="47" selection-start-column="39" selection-end-line="47" selection-end-column="39" />
+              <folding>
+                <element signature="e#5532#5533#0" expanded="true" />
+                <element signature="e#5578#5579#0" expanded="true" />
+              </folding>
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="false">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/Clockwise.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="120">
+              <caret line="12" column="13" selection-start-line="12" selection-start-column="13" selection-end-line="12" selection-end-column="13" />
             </state>
           </provider>
         </entry>
@@ -83,18 +177,24 @@
   <component name="FileTemplateManagerImpl">
     <option name="RECENT_TEMPLATES">
       <list>
-        <option value="Class" />
         <option value="Enum" />
+        <option value="Class" />
       </list>
     </option>
   </component>
+  <component name="FindInProjectRecents">
+    <findStrings>
+      <find>runinta</find>
+    </findStrings>
+  </component>
   <component name="Git.Settings">
-    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+    <option name="ROOT_SYNC" value="SYNC" />
+    <option name="RECENT_GIT_ROOT_PATH" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
   </component>
   <component name="GradleLocalSettings">
     <option name="myGradleHomes">
       <map>
-        <entry key="$PROJECT_DIR$" value="C:\Users\Tom\.gradle\wrapper\dists\gradle-4.4-all\9br9xq1tocpiv8o6njlyu5op1\gradle-4.4" />
+        <entry key="$PROJECT_DIR$" value="/private/var/aisdadmin/.gradle/wrapper/dists/gradle-4.4-all/9br9xq1tocpiv8o6njlyu5op1/gradle-4.4" />
       </map>
     </option>
     <option name="myGradleVersions">
@@ -107,15 +207,15 @@
         <entry>
           <key>
             <ExternalProjectPojo>
-              <option name="name" value="austincans_2018" />
+              <option name="name" value="RobotCode_2018" />
               <option name="path" value="$PROJECT_DIR$" />
             </ExternalProjectPojo>
           </key>
           <value>
             <list>
               <ExternalProjectPojo>
-                <option name="name" value="austincans_2018" />
-                <option name="path" value="$PROJECT_DIR$" />
+                <option name="name" value="RobotCode_2018" />
+                <option name="path" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
               </ExternalProjectPojo>
             </list>
           </value>
@@ -124,254 +224,254 @@
     </option>
     <option name="availableTasks">
       <map>
-        <entry key="$PROJECT_DIR$">
+        <entry key="/private/var/aisdadmin/IdeaProjects/RobotCode_2018">
           <value>
             <list>
               <ExternalTaskPojo>
-                <option name="description" value="Displays the sub-projects of root project 'austincans_2018'." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays the sub-projects of root project 'RobotCode_2018'." />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="projects" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="deployFrcJava" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="wrapper" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Deploy all artifacts on all targets" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="deploy" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Generates the Eclipse classpath file." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="eclipseClasspath" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Assembles a jar archive containing the main classes." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="jar" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays the configuration model of root project 'austincans_2018'. [incubating]" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays the configuration model of root project 'RobotCode_2018'. [incubating]" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="model" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Processes main resources." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="processResources" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Launch Smart Dashboard" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="smartDashboard" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays the tasks runnable from root project 'austincans_2018'." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays the tasks runnable from root project 'RobotCode_2018'." />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="tasks" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Run a console displaying output from the RoboRIO (roborio)" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="riologRoborio" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Initializes a new Gradle build." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="init" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Determine the address(es) of target Roborio" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="discoverRoborio" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="deployNativeZips" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Runs the unit tests." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="test" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Run a console displaying output from the default RoboRIO (roborio)" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="riolog" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Compiles main Java source." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="compileJava" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Runs all checks." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="check" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays all dependencies declared in root project 'austincans_2018'." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays all dependencies declared in root project 'RobotCode_2018'." />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="dependencies" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Generates all Eclipse files." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="eclipse" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Processes test resources." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="processTestResources" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Print all versions of the wpi block" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="wpi" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Generates the Eclipse JDT settings file." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="eclipseJdt" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Assembles and tests this project and all projects it depends on." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="buildNeeded" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Generates the Eclipse project file." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="eclipseProject" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Render the collected telemetry to the console" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="telemetry" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays the components produced by root project 'austincans_2018'. [incubating]" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays the components produced by root project 'RobotCode_2018'. [incubating]" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="components" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="deployNativeLibs" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Assembles and tests this project and all projects that depend on it." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="buildDependents" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="cleanEclipseClasspath" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Clean Clion IDE Files" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="cleanClion" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Cleans all Eclipse files." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="cleanEclipse" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Assembles main classes." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="classes" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays the dependent components of components in root project 'austincans_2018'. [incubating]" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays the dependent components of components in root project 'RobotCode_2018'. [incubating]" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="dependentComponents" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays all buildscript dependencies declared in root project 'austincans_2018'." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays all buildscript dependencies declared in root project 'RobotCode_2018'." />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="buildEnvironment" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="cleanEclipseProject" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Assembles test classes." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="testClasses" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Generates Javadoc API documentation for the main source code." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="javadoc" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Generate Clion CMakeLists.txt files." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="clion" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Launch Shuffleboard" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="shuffleboard" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="deployJre" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="cleanEclipseJdt" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays the insight into a specific dependency in root project 'austincans_2018'." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays the insight into a specific dependency in root project 'RobotCode_2018'." />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="dependencyInsight" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Assembles the outputs of this project." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="assemble" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Deletes the build directory." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="clean" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Compiles test Java source." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="compileTestJava" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Displays a help message." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="help" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Install the C++ FRC Toolchain for this system" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="installToolchain" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Assembles and tests this project." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="build" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
                 <option name="description" value="Simulate Task for Java/Kotlin/JVM" />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="simulateJar" />
               </ExternalTaskPojo>
               <ExternalTaskPojo>
-                <option name="description" value="Displays the properties of root project 'austincans_2018'." />
-                <option name="linkedExternalProjectPath" value="$PROJECT_DIR$" />
+                <option name="description" value="Displays the properties of root project 'RobotCode_2018'." />
+                <option name="linkedExternalProjectPath" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                 <option name="name" value="properties" />
               </ExternalTaskPojo>
             </list>
@@ -381,8 +481,12 @@
     </option>
     <option name="modificationStamps">
       <map>
-        <entry key="$PROJECT_DIR$" value="3060359104966" />
+        <entry key="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle" value="0" />
+        <entry key="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/build.gradle" value="3643747471" />
+        <entry key="$PROJECT_DIR$" value="4623570972000" />
+        <entry key="$PROJECT_DIR$/.gradle" value="0" />
         <entry key="$PROJECT_DIR$/build.gradle" value="3643747471" />
+        <entry key="$PROJECT_DIR$/gradle/wrapper/gradle-wrapper.properties" value="2083459160" />
       </map>
     </option>
     <option name="projectBuildClasspath">
@@ -392,185 +496,183 @@
             <ExternalProjectBuildClasspathPojo>
               <option name="modulesBuildClasspath">
                 <map>
-                  <entry key="$PROJECT_DIR$">
+                  <entry key="/private/var/aisdadmin/IdeaProjects/RobotCode_2018">
                     <value>
                       <ExternalModuleBuildClasspathPojo>
                         <option name="entries">
                           <list>
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/gradle.plugin.jaci.openrio.gradle/GradleRIO/2018.01.07/594a724e9479136a8b65d92a536abc0f6753c7f/GradleRIO-2018.01.07-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/gradle.plugin.jaci.openrio.gradle/GradleRIO/2018.01.07/9b97e7ea0a33a9aeee1ed04a64e2b4ae599088f9/GradleRIO-2018.01.07.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/gradle.plugin.jaci.gradle/DeployTools/2017.12.23/8281aad3a3e91804b0d85405eb37da88ab7fccc8/DeployTools-2017.12.23-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/gradle.plugin.jaci.gradle/DeployTools/2017.12.23/63348787c617f2f1fa05a12fc29cee33d0999c5/DeployTools-2017.12.23.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/de.undercouch/gradle-download-task/3.1.2/a770cf45a3df7a09f2ae9f9d4d781338ca316189/gradle-download-task-3.1.2-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/de.undercouch/gradle-download-task/3.1.2/dbb5911739f1a18228847ad955c700a368db1ba4/gradle-download-task-3.1.2.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/com.google.code.gson/gson/2.2.4/a6dc5db8a12928e583bd3f23e72d3ab611ecd58f/gson-2.2.4-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/com.google.code.gson/gson/2.2.4/a60a5e993c98c864010053cb901b7eab25306568/gson-2.2.4.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/com.jcraft/jsch/0.1.53/791359d94d6edcace686a56d0727ee093a2f7c33/jsch-0.1.53-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/com.jcraft/jsch/0.1.53/658b682d5c817b27ae795637dfec047c63d29935/jsch-0.1.53.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpclient/4.5.2/b9f9e3e5255b6ddc3bf21be05428c7a60d00e042/httpclient-4.5.2-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpclient/4.5.2/733db77aa8d9b2d68015189df76ab06304406e50/httpclient-4.5.2.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpcore/4.4.4/c5c19e3e6af6b452def290cde12a3ee4c35c893c/httpcore-4.4.4-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpcore/4.4.4/b31526a230871fbe285fbcbe2813f9c0839ae9b0/httpcore-4.4.4.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/commons-logging/commons-logging/1.2/ecf26c7507d67782a3bbd148d170b31dfad001aa/commons-logging-1.2-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/commons-logging/commons-logging/1.2/4bfc12adfe4842bf07b657f0369c4cb522955686/commons-logging-1.2.jar" />
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               </option>
             </ExternalProjectBuildClasspathPojo>
@@ -578,8 +680,10 @@
         </entry>
       </map>
     </option>
-    <option name="externalProjectsViewState">
-      <projects_view />
+    <option name="projectSyncType">
+      <map>
+        <entry key="$PROJECT_DIR$" value="RE_IMPORT" />
+      </map>
     </option>
   </component>
   <component name="IdeDocumentHistory">
@@ -602,77 +706,142 @@
         <option value="$PROJECT_DIR$/build.gradle" />
         <option value="$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.java" />
         <option value="$PROJECT_DIR$/.gitignore" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/Flywheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/intake/IntakeSubsystem.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/Robot.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/runFlyWheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/StopIntakeAndPivot.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/runFlywheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java" />
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   <component name="ProjectFrameBounds" extendedState="6">
-    <option name="x" value="-204" />
-    <option name="y" value="-11" />
-    <option name="width" value="1370" />
-    <option name="height" value="744" />
+    <option name="y" value="23" />
+    <option name="width" value="2048" />
+    <option name="height" value="1049" />
   </component>
   <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
   <component name="ProjectView">
-    <navigator currentView="ProjectPane" proportions="" version="1">
-      <flattenPackages />
-      <showMembers />
-      <showModules />
-      <showLibraryContents />
-      <hideEmptyPackages />
-      <abbreviatePackageNames />
-      <autoscrollToSource />
-      <autoscrollFromSource />
-      <sortByType />
-      <manualOrder />
+    <navigator proportions="" version="1">
       <foldersAlwaysOnTop value="true" />
     </navigator>
     <panes>
-      <pane id="AndroidView" />
-      <pane id="PackagesPane" />
-      <pane id="Scratches" />
-      <pane id="Scope" />
       <pane id="ProjectPane">
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-              <item name="austincans_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+            </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
             </path>
             <path>
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-              <item name="austincans_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
               <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
             </path>
             <path>
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-              <item name="austincans_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
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               <item name="src" type="462c0819:PsiDirectoryNode" />
               <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
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             <path>
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-              <item name="austincans_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
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               <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
               <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
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             <path>
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-              <item name="austincans_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
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               <item name="java" type="462c0819:PsiDirectoryNode" />
               <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="command" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
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+              <item name="command" type="462c0819:PsiDirectoryNode" />
+              <item name="drive" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
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+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="command" type="462c0819:PsiDirectoryNode" />
+              <item name="intake" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
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+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="drive" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
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+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
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+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="intake" type="462c0819:PsiDirectoryNode" />
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+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
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+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
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+              <item name="lift" type="462c0819:PsiDirectoryNode" />
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+      <pane id="Scope" />
+      <pane id="PackagesPane" />
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+    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1541723981175" />
     <property name="last_opened_file_path" value="$PROJECT_DIR$" />
+    <property name="settings.editor.selected.configurable" value="reference.settingsdialog.project.gradle" />
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-      <option name="WIDTH" value="400" />
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       <option name="POLICY_FILE" value="$APPLICATION_HOME_DIR$/bin/appletviewer.policy" />
+      <method v="2">
+        <option name="Make" enabled="true" />
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     </configuration>
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-      <option name="ENV_VARIABLES" />
-      <option name="PASS_PARENT_ENVS" value="true" />
-      <module name="" />
-      <envs />
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+        <option name="Make" enabled="true" />
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@@ -725,72 +885,32 @@
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+      <method v="2" />
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-      <option name="SHMEM_ADDRESS" value="javadebug" />
-      <option name="HOST" value="localhost" />
-      <option name="PORT" value="5005" />
+      <method v="2">
+        <option name="Make" enabled="true" />
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-      <option name="USE_DEFAULT_REPORTERS" value="false" />
-      <option name="PROPERTIES_FILE" />
-      <envs />
       <properties />
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+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
     </configuration>
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       <option name="PROGRAM_PARAMETERS" />
       <predefined_log_file id="idea.log" enabled="true" />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
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@@ -805,381 +925,399 @@
     <servers />
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+        <state relative-caret-position="570">
+          <caret line="47" column="39" lean-forward="true" selection-start-line="47" selection-start-column="39" selection-end-line="47" selection-end-column="39" />
+          <folding>
+            <element signature="e#5532#5533#0" expanded="true" />
+            <element signature="e#5578#5579#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
-    <entry file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/DoubleSolenoid.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/Clockwise.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="306">
-          <caret line="26" column="10" lean-forward="false" selection-start-line="26" selection-start-column="10" selection-end-line="26" selection-end-column="10" />
-          <folding />
+        <state relative-caret-position="120">
+          <caret line="12" column="13" selection-start-line="12" selection-start-column="13" selection-end-line="12" selection-end-column="13" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/drive/TalonSRXGroup.java">
+    <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/command/Subsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="323">
-          <caret line="23" column="45" lean-forward="false" selection-start-line="23" selection-start-column="45" selection-end-line="23" selection-end-column="45" />
-          <folding />
+        <state relative-caret-position="300">
+          <caret line="30" column="22" selection-start-line="30" selection-start-column="22" selection-end-line="30" selection-end-column="22" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/lift/StopLift.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/intake/IntakeSubsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="238">
-          <caret line="17" column="11" lean-forward="false" selection-start-line="17" selection-start-column="11" selection-end-line="17" selection-end-column="11" />
-          <folding />
+        <state relative-caret-position="439">
+          <caret line="38" column="7" lean-forward="true" selection-start-line="38" selection-start-column="7" selection-end-line="38" selection-end-column="7" />
+          <folding>
+            <element signature="imports" expanded="true" />
+            <element signature="e#4671#4672#0" expanded="true" />
+            <element signature="e#4730#4731#0" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/drive/SetGearMode.java">
+    <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/a6524440658bcd925d5bbd06e84b3cd6ba80c4a7/CTRE-phoenix-java-5.1.2.1-sources.jar!/com/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="153">
-          <caret line="13" column="13" lean-forward="false" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
-          <folding />
+        <state relative-caret-position="180">
+          <caret line="28" column="11" selection-start-line="28" selection-start-column="11" selection-end-line="28" selection-end-column="11" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/build.gradle">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/Robot.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="452">
-          <caret line="52" column="0" lean-forward="false" selection-start-line="52" selection-start-column="0" selection-end-line="52" selection-end-column="0" />
-          <folding />
+        <state relative-caret-position="418">
+          <caret line="86" column="31" lean-forward="true" selection-start-line="86" selection-start-column="31" selection-end-line="86" selection-end-column="31" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/Intake.java">
+    <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/SpeedControllerGroup.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="438">
-          <caret line="32" column="13" lean-forward="false" selection-start-line="32" selection-start-column="13" selection-end-line="32" selection-end-column="13" />
-          <folding />
+        <state relative-caret-position="139">
+          <caret line="15" column="39" lean-forward="true" selection-start-line="15" selection-start-column="39" selection-end-line="15" selection-end-column="39" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.java">
+    <entry file="jar:///private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/openrio.mirror.third.ctre/CTRE-phoenix-java/5.1.2.1/a6524440658bcd925d5bbd06e84b3cd6ba80c4a7/CTRE-phoenix-java-5.1.2.1-sources.jar!/com/ctre/phoenix/motorcontrol/can/BaseMotorController.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="129">
-          <caret line="23" column="0" lean-forward="false" selection-start-line="23" selection-start-column="0" selection-end-line="23" selection-end-column="0" />
-          <folding />
+        <state relative-caret-position="295">
+          <caret line="208" column="7" lean-forward="true" selection-start-line="208" selection-start-column="7" selection-end-line="208" selection-end-column="7" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/drive/TalonSRXGroup.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="153">
-          <caret line="14" column="44" lean-forward="false" selection-start-line="14" selection-start-column="44" selection-end-line="14" selection-end-column="44" />
-          <folding />
+        <state relative-caret-position="40">
+          <caret line="32" column="42" lean-forward="true" selection-start-line="32" selection-start-column="42" selection-end-line="32" selection-end-column="42" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/.gitignore">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="419">
-          <caret line="27" column="0" lean-forward="true" selection-start-line="27" selection-start-column="0" selection-end-line="27" selection-end-column="0" />
-          <folding />
+        <state relative-caret-position="420">
+          <caret line="32" column="9" lean-forward="true" selection-start-line="30" selection-start-column="8" selection-end-line="32" selection-end-column="9" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/Robot.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="272">
-          <caret line="32" column="0" lean-forward="false" selection-start-line="32" selection-start-column="0" selection-end-line="32" selection-end-column="0" />
-          <folding />
+        <state relative-caret-position="705">
+          <caret line="51" column="15" selection-start-line="51" selection-start-column="15" selection-end-line="51" selection-end-column="15" />
         </state>
       </provider>
     </entry>
diff --git a/src/main/java/frc/team2158/robot/Robot.java b/src/main/java/frc/team2158/robot/Robot.java
index e216abe..8bfa62e 100644
--- a/src/main/java/frc/team2158/robot/Robot.java
+++ b/src/main/java/frc/team2158/robot/Robot.java
@@ -10,6 +10,7 @@
 import frc.team2158.robot.command.drive.ToggleGearMode;
 import frc.team2158.robot.command.intake.*;
 import frc.team2158.robot.command.lift.MoveLift;
+import frc.team2158.robot.subsystem.FlywheelSubsystem;
 import frc.team2158.robot.subsystem.drive.DriveSubsystem;
 import frc.team2158.robot.subsystem.drive.GearMode;
 import frc.team2158.robot.subsystem.drive.TalonSRXGroup;
@@ -34,6 +35,7 @@ public class Robot extends TimedRobot {
     private static DriveSubsystem driveSubsystem;
     private static LiftSubsystem liftSubsystem;
     private static IntakeSubsystem intakeSubsystem;
+    private static FlywheelSubsystem flywheelSubsystem;
 
     private static OperatorInterface operatorInterface;
     private Spark blinkin = new Spark(6);
@@ -158,6 +160,13 @@ public static IntakeSubsystem getIntakeSubsystem() {
         throw new RuntimeException("Intake subsystem has not yet been initialized!");
     }
 
+    public static FlywheelSubsystem getFlywheelSubsystem() {
+        if(flywheelSubsystem != null) {
+            return flywheelSubsystem;
+        }
+        throw new RuntimeException("Flywheel subsystem has not yet been initialized!");
+    }
+
     /**
      * Returns the instance of the Operator Interface.
      * @return the instance of the Operator Interface.
diff --git a/src/main/java/frc/team2158/robot/command/stopFlywheel.java b/src/main/java/frc/team2158/robot/command/stopFlywheel.java
new file mode 100644
index 0000000..be1dcfb
--- /dev/null
+++ b/src/main/java/frc/team2158/robot/command/stopFlywheel.java
@@ -0,0 +1,24 @@
+package frc.team2158.robot.command;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.team2158.robot.Robot;
+
+import java.util.logging.Logger;
+
+public class stopFlywheel extends Command {
+    private static final Logger LOGGER = Logger.getLogger(stopFlywheel.class.getName());
+
+    public stopFlywheel() {
+        requires(Robot.getFlywheelSubsystem());
+    }
+
+        @Override
+        protected void initialize() {
+            Robot.getFlywheelSubsystem().stopFlywheel();
+        }
+
+        @Override
+        protected boolean isFinished() {
+            return true;
+        }
+    }
diff --git a/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java b/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java
new file mode 100644
index 0000000..853626f
--- /dev/null
+++ b/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java
@@ -0,0 +1,45 @@
+package frc.team2158.robot.subsystem;
+
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import frc.team2158.robot.command.stopFlywheel;
+import frc.team2158.robot.subsystem.intake.IntakeSubsystem.IntakeDirection;
+/**
+ * @author William Blount
+ * @version 0.0.1
+ * This subsystem manages the cube intake motors and solenoids.
+ */
+public class FlywheelSubsystem extends Subsystem {
+
+    private static double flywheel_speed = 1.0;
+
+    private SpeedController speedController;
+
+    public FlywheelSubsystem(SpeedController speedController) {
+        this.speedController = speedController;
+    }
+
+    public void runFlywheel(double speed) {
+            speedController.set(speed);
+    }
+
+    /**
+     * Stops the intake by setting the speed controllers to 0.0
+     */
+    public void stopFlywheel() {
+        double intake_modified_speed = flywheel_speed;
+        for(double i = 0; i < 1.0; i = i+ .02){
+            speedController.set(intake_modified_speed-i);
+        }
+        speedController.set(0);
+    }
+
+    public void estopFlywheel() {
+        speedController.set(0);
+    }
+
+    @Override
+    protected void initDefaultCommand() {
+        setDefaultCommand(new stopFlywheel());
+    }
+}
diff --git a/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java b/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java
index 953c225..741d028 100644
--- a/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java
+++ b/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java
@@ -1,6 +1,7 @@
 package frc.team2158.robot.subsystem.lift;
 
 import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import frc.team2158.robot.command.lift.StopLift;
 
@@ -47,6 +48,10 @@ public void moveLift(Direction direction, double speed) {
      * Stops the lift by setting the speed to zero.
      */
     public void stopLift() {
+        for(double i = 0; i < 1.0; i = i+ .02){
+            liftSpeedController.set(DEFAULT_LIFT_UP_SPEED-i);
+            Timer.delay(.0025);
+        }
         liftSpeedController.set(0.0);
     }