From a68f740660b9df5854637c4789bc3b564ff1a287 Mon Sep 17 00:00:00 2001
From: zsim314 <zsim314@gmail.com>
Date: Fri, 2 Nov 2018 15:38:26 -0500
Subject: [PATCH 1/3] yeet

---
 .idea/compiler.xml                            |    2 +
 .idea/gradle.xml                              |    5 +-
 ...edu_wpi_first_cscore_cscore_java_1_1_0.xml |    2 +
 ...edu_wpi_first_ntcore_ntcore_java_4_0_0.xml |    2 +
 ...pi_first_wpilibj_wpilibj_java_2018_1_1.xml |    2 +
 ...u_wpi_first_wpiutil_wpiutil_java_3_0_0.xml |    2 +
 ...r_third_ctre_CTRE_phoenix_java_5_1_2_1.xml |    2 +
 ...rror_third_kauailabs_navx_java_3_0_342.xml |    2 +
 ...__openrio_powerup_MatchData_2018_01_07.xml |    2 +
 .../Gradle__org_opencv_opencv_java_3_2_0.xml  |    2 +
 .idea/modules.xml                             |    6 +-
 .idea/modules/-838270129/RobotCode_2018.iml   |   13 +
 .../-838270129/RobotCode_2018_main.iml        |   20 +
 .../-838270129/RobotCode_2018_test.iml        |   20 +
 .idea/vcs.xml                                 |    1 +
 .idea/workspace.xml                           | 1089 ++++++++---------
 16 files changed, 570 insertions(+), 602 deletions(-)
 create mode 100644 .idea/modules/-838270129/RobotCode_2018.iml
 create mode 100644 .idea/modules/-838270129/RobotCode_2018_main.iml
 create mode 100644 .idea/modules/-838270129/RobotCode_2018_test.iml

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..b5c3385 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
@@ -2,10 +2,12 @@
   <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..954c84c 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
@@ -2,10 +2,12 @@
   <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..47b43f4 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
@@ -2,10 +2,12 @@
   <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..1c49d54 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
@@ -2,10 +2,12 @@
   <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..b13c7a8 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
@@ -2,10 +2,12 @@
   <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..4471007 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
@@ -2,10 +2,12 @@
   <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..12c667a 100644
--- a/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml
+++ b/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml
@@ -2,10 +2,12 @@
   <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..4bfe5b1 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
@@ -2,10 +2,12 @@
   <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/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..f7751d1 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,13 +2,29 @@
 <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 afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/flywheel/FlywheelSubsystem.java" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.bin" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.bin" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.lock" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.lock" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/gradle.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/gradle.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/modules/austincans_2018.iml" beforeDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/modules/austincans_2018_main.iml" beforeDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/modules/austincans_2018_test.iml" beforeDir="false" />
+      <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="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.bin" beforeDir="false" afterPath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.bin" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.lock" beforeDir="false" afterPath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.lock" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/gradle.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/gradle.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/modules/austincans_2018.iml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/modules/austincans_2018_main.iml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/modules/austincans_2018_test.iml" beforeDir="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 +42,104 @@
       </state>
     </system>
   </component>
+  <component name="FUSProjectUsageTrigger">
+    <session id="-1683344510">
+      <usages-collector id="statistics.lifecycle.project">
+        <counts>
+          <entry key="project.open.time.24" value="1" />
+          <entry key="project.opened" value="1" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.file.extensions.open">
+        <counts>
+          <entry key="java" value="2" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.file.types.open">
+        <counts>
+          <entry key="JAVA" value="2" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.vcs.git.usages">
+        <counts>
+          <entry key="git.branch.create.new" value="2" />
+        </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">
+      <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/Robot.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="585">
+              <caret line="55" column="42" selection-start-line="55" selection-start-column="42" selection-end-line="55" selection-end-column="42" />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="675">
+              <caret line="45" column="7" selection-start-line="45" selection-start-column="7" selection-end-line="45" selection-end-column="7" />
+              <folding>
+                <element signature="imports" 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/subsystem/intake/IntakeSubsystem.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="120">
+              <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file pinned="false" current-in-tab="true">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/flywheel/FlywheelSubsystem.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="60">
+              <caret line="4" lean-forward="true" selection-start-line="4" selection-end-line="4" />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="RobotMap.java" pinned="false" current-in-tab="false">
+      <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.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="345">
+              <caret line="23" selection-start-line="23" selection-end-line="23" />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="Intake.java" pinned="false" current-in-tab="false">
+      <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/Intake.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="390">
+              <caret line="32" column="13" selection-start-line="32" selection-start-column="13" selection-end-line="32" selection-end-column="13" />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="build.gradle" pinned="false" current-in-tab="false">
+      <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/build.gradle">
           <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="780">
+              <caret line="52" selection-start-line="52" selection-end-line="52" />
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="DriveSubsystem.java" pinned="false" current-in-tab="false">
+      <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.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="135">
+              <caret line="14" column="44" selection-start-line="14" selection-start-column="44" selection-end-line="14" selection-end-column="44" />
             </state>
           </provider>
         </entry>
@@ -83,18 +149,19 @@
   <component name="FileTemplateManagerImpl">
     <option name="RECENT_TEMPLATES">
       <list>
-        <option value="Class" />
         <option value="Enum" />
+        <option value="Class" />
       </list>
     </option>
   </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 +174,15 @@
         <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 +191,254 @@
     </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 +448,11 @@
     </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="$PROJECT_DIR$/.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 +462,183 @@
             <ExternalProjectBuildClasspathPojo>
               <option name="modulesBuildClasspath">
                 <map>
-                  <entry key="$PROJECT_DIR$">
+                  <entry key="/private/var/aisdadmin/IdeaProjects/RobotCode_2018">
                     <value>
                       <ExternalModuleBuildClasspathPojo>
                         <option name="entries">
                           <list>
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-                            <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" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/commons-codec/commons-codec/1.9/3f15fff45d57656685abfee9e8302bf14580044c/commons-codec-1.9-sources.jar" />
-                            <option value="$USER_HOME$/.gradle/caches/modules-2/files-2.1/commons-codec/commons-codec/1.9/9ce04e34240f674bc72680f8b843b1457383161a/commons-codec-1.9.jar" />
+                            <option value="/private/var/aisdadmin/.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="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/gradle.plugin.jaci.gradle/DeployTools/2017.12.23/8281aad3a3e91804b0d85405eb37da88ab7fccc8/DeployTools-2017.12.23-sources.jar" />
+                            <option value="/private/var/aisdadmin/.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="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/com.google.code.gson/gson/2.2.4/a6dc5db8a12928e583bd3f23e72d3ab611ecd58f/gson-2.2.4-sources.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/com.jcraft/jsch/0.1.53/791359d94d6edcace686a56d0727ee093a2f7c33/jsch-0.1.53-sources.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpclient/4.5.2/b9f9e3e5255b6ddc3bf21be05428c7a60d00e042/httpclient-4.5.2-sources.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpcore/4.4.4/c5c19e3e6af6b452def290cde12a3ee4c35c893c/httpcore-4.4.4-sources.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/commons-logging/commons-logging/1.2/ecf26c7507d67782a3bbd148d170b31dfad001aa/commons-logging-1.2-sources.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/commons-codec/commons-codec/1.9/3f15fff45d57656685abfee9e8302bf14580044c/commons-codec-1.9-sources.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/gradle.plugin.jaci.openrio.gradle/GradleRIO/2018.01.07/9b97e7ea0a33a9aeee1ed04a64e2b4ae599088f9/GradleRIO-2018.01.07.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/gradle.plugin.jaci.gradle/DeployTools/2017.12.23/63348787c617f2f1fa05a12fc29cee33d0999c5/DeployTools-2017.12.23.jar" />
+                            <option value="/private/var/aisdadmin/.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="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/com.google.code.gson/gson/2.2.4/a60a5e993c98c864010053cb901b7eab25306568/gson-2.2.4.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/com.jcraft/jsch/0.1.53/658b682d5c817b27ae795637dfec047c63d29935/jsch-0.1.53.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpclient/4.5.2/733db77aa8d9b2d68015189df76ab06304406e50/httpclient-4.5.2.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/org.apache.httpcomponents/httpcore/4.4.4/b31526a230871fbe285fbcbe2813f9c0839ae9b0/httpcore-4.4.4.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/commons-logging/commons-logging/1.2/4bfc12adfe4842bf07b657f0369c4cb522955686/commons-logging-1.2.jar" />
+                            <option value="/private/var/aisdadmin/.gradle/caches/modules-2/files-2.1/commons-codec/commons-codec/1.9/9ce04e34240f674bc72680f8b843b1457383161a/commons-codec-1.9.jar" />
                           </list>
                         </option>
-                        <option name="path" value="$PROJECT_DIR$" />
+                        <option name="path" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
                       </ExternalModuleBuildClasspathPojo>
                     </value>
                   </entry>
                 </map>
               </option>
-              <option name="name" value="austincans_2018" />
+              <option name="name" value="RobotCode_2018" />
               <option name="projectBuildClasspath">
                 <list>
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+                  <option value="/private/var/aisdadmin/.gradle/wrapper/dists/gradle-4.4-all/9br9xq1tocpiv8o6njlyu5op1/gradle-4.4/lib/plugins/gradle-version-control-4.4.jar" />
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@@ -578,9 +646,6 @@
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-      <projects_view />
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   <component name="IdeDocumentHistory">
     <option name="CHANGED_PATHS">
@@ -605,74 +670,101 @@
       </list>
     </option>
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-    <option name="x" value="-204" />
-    <option name="y" value="-11" />
-    <option name="width" value="1370" />
-    <option name="height" value="744" />
+  <component name="ProjectFrameBounds">
+    <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>
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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" />
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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" />
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               <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
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-              <item name="austincans_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
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               <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
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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" />
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               <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
               <item name="java" type="462c0819:PsiDirectoryNode" />
               <item name="robot" type="462c0819:PsiDirectoryNode" />
             </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="drive" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="intake" type="462c0819:PsiDirectoryNode" />
+            </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="lift" type="462c0819:PsiDirectoryNode" />
+            </path>
           </expand>
           <select />
         </subPane>
       </pane>
+      <pane id="PackagesPane" />
+      <pane id="Scope" />
     </panes>
   </component>
   <component name="PropertiesComponent">
-    <property name="settings.editor.selected.configurable" value="terminal" />
+    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1541190747909" />
     <property name="last_opened_file_path" value="$PROJECT_DIR$" />
+    <property name="settings.editor.selected.configurable" value="reference.settingsdialog.project.gradle" />
   </component>
   <component name="RunDashboard">
     <option name="ruleStates">
@@ -688,25 +780,16 @@
   </component>
   <component name="RunManager">
     <configuration default="true" type="Applet" factoryName="Applet">
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-      <option name="HTML_USED" value="false" />
-      <option name="WIDTH" value="400" />
-      <option name="HEIGHT" value="300" />
       <option name="POLICY_FILE" value="$APPLICATION_HOME_DIR$/bin/appletviewer.policy" />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
     </configuration>
     <configuration default="true" type="Application" factoryName="Application">
-      <extension name="coverage" enabled="false" merge="false" sample_coverage="true" runner="idea" />
-      <option name="MAIN_CLASS_NAME" />
-      <option name="VM_PARAMETERS" />
-      <option name="PROGRAM_PARAMETERS" />
       <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
-      <option name="ALTERNATIVE_JRE_PATH_ENABLED" value="false" />
-      <option name="ALTERNATIVE_JRE_PATH" />
-      <option name="ENABLE_SWING_INSPECTOR" value="false" />
-      <option name="ENV_VARIABLES" />
-      <option name="PASS_PARENT_ENVS" value="true" />
-      <module name="" />
-      <envs />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
     </configuration>
     <configuration name="Build-Deploy" type="GradleRunConfiguration" factoryName="Gradle">
       <ExternalSystemSettings>
@@ -725,72 +808,32 @@
         </option>
         <option name="vmOptions" value="" />
       </ExternalSystemSettings>
-      <extension name="coverage" enabled="false" merge="false" sample_coverage="true" runner="idea" />
+      <method v="2" />
     </configuration>
     <configuration default="true" type="JUnit" factoryName="JUnit">
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-      <option name="PACKAGE_NAME" />
-      <option name="MAIN_CLASS_NAME" />
-      <option name="METHOD_NAME" />
-      <option name="TEST_OBJECT" value="class" />
-      <option name="VM_PARAMETERS" value="-ea" />
-      <option name="PARAMETERS" />
       <option name="WORKING_DIRECTORY" value="%MODULE_WORKING_DIR%" />
-      <option name="ENV_VARIABLES" />
-      <option name="PASS_PARENT_ENVS" value="true" />
-      <option name="TEST_SEARCH_SCOPE">
-        <value defaultName="singleModule" />
-      </option>
-      <envs />
-      <patterns />
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-    <configuration default="true" type="Remote" factoryName="Remote">
-      <option name="USE_SOCKET_TRANSPORT" value="true" />
-      <option name="SERVER_MODE" value="false" />
-      <option name="SHMEM_ADDRESS" value="javadebug" />
-      <option name="HOST" value="localhost" />
-      <option name="PORT" value="5005" />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
     </configuration>
     <configuration default="true" type="TestNG" factoryName="TestNG">
-      <extension name="coverage" enabled="false" merge="false" sample_coverage="true" runner="idea" />
-      <module name="" />
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-      <option name="ALTERNATIVE_JRE_PATH" />
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-      <option name="PACKAGE_NAME" />
-      <option name="MAIN_CLASS_NAME" />
-      <option name="METHOD_NAME" />
-      <option name="GROUP_NAME" />
-      <option name="TEST_OBJECT" value="CLASS" />
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       <option name="WORKING_DIRECTORY" value="%MODULE_WORKING_DIR%" />
-      <option name="OUTPUT_DIRECTORY" />
-      <option name="ANNOTATION_TYPE" />
-      <option name="ENV_VARIABLES" />
-      <option name="PASS_PARENT_ENVS" value="true" />
-      <option name="TEST_SEARCH_SCOPE">
-        <value defaultName="singleModule" />
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-      <option name="USE_DEFAULT_REPORTERS" value="false" />
-      <option name="PROPERTIES_FILE" />
-      <envs />
       <properties />
       <listeners />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
     </configuration>
     <configuration default="true" type="#org.jetbrains.idea.devkit.run.PluginConfigurationType" factoryName="Plugin">
       <module name="" />
       <option name="VM_PARAMETERS" value="-Xmx512m -Xms256m -XX:MaxPermSize=250m -ea" />
       <option name="PROGRAM_PARAMETERS" />
       <predefined_log_file id="idea.log" enabled="true" />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
     </configuration>
   </component>
-  <component name="ShelveChangesManager" show_recycled="false">
-    <option name="remove_strategy" value="false" />
-  </component>
   <component name="SvnConfiguration">
     <configuration />
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@@ -805,150 +848,48 @@
     <servers />
   </component>
   <component name="ToolWindowManager">
-    <frame x="-8" y="-8" width="1382" height="744" extended-state="6" />
+    <frame x="0" y="23" width="2048" height="1049" extended-state="6" />
     <editor active="true" />
     <layout>
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-          <caret line="7" column="12" lean-forward="false" selection-start-line="7" selection-start-column="12" selection-end-line="7" selection-end-column="12" />
-          <folding />
+          <caret line="7" column="12" selection-start-line="7" selection-start-column="12" selection-end-line="7" selection-end-column="12" />
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       </provider>
     </entry>
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       <provider selected="true" editor-type-id="text-editor">
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-          <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 />
+          <caret line="24" selection-start-line="24" selection-end-line="24" />
         </state>
       </provider>
     </entry>
+    <entry file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/DoubleSolenoid.java" />
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/drive/TalonSRXGroup.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="323">
-          <caret line="23" column="45" lean-forward="false" selection-start-line="23" selection-start-column="45" selection-end-line="23" selection-end-column="45" />
-          <folding />
+          <caret line="23" column="45" selection-start-line="23" selection-start-column="45" selection-end-line="23" selection-end-column="45" />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/lift/StopLift.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="238">
-          <caret line="17" column="11" lean-forward="false" selection-start-line="17" selection-start-column="11" selection-end-line="17" selection-end-column="11" />
-          <folding />
+          <caret line="17" column="11" selection-start-line="17" selection-start-column="11" selection-end-line="17" selection-end-column="11" />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/drive/SetGearMode.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="153">
-          <caret line="13" column="13" lean-forward="false" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
-          <folding />
+          <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/build.gradle">
+    <entry file="file://$PROJECT_DIR$/.gitignore">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="452">
-          <caret line="52" column="0" lean-forward="false" selection-start-line="52" selection-start-column="0" selection-end-line="52" selection-end-column="0" />
-          <folding />
+        <state relative-caret-position="419">
+          <caret line="27" lean-forward="true" selection-start-line="27" selection-end-line="27" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/Intake.java">
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/Robot.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="438">
-          <caret line="32" column="13" lean-forward="false" selection-start-line="32" selection-start-column="13" selection-end-line="32" selection-end-column="13" />
-          <folding />
+        <state relative-caret-position="585">
+          <caret line="55" column="42" selection-start-line="55" selection-start-column="42" selection-end-line="55" selection-end-column="42" />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="129">
-          <caret line="23" column="0" lean-forward="false" selection-start-line="23" selection-start-column="0" selection-end-line="23" selection-end-column="0" />
-          <folding />
+        <state relative-caret-position="345">
+          <caret line="23" selection-start-line="23" selection-end-line="23" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/Intake.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="390">
+          <caret line="32" column="13" selection-start-line="32" selection-start-column="13" selection-end-line="32" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/build.gradle">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="780">
+          <caret line="52" selection-start-line="52" selection-end-line="52" />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="153">
-          <caret line="14" column="44" lean-forward="false" selection-start-line="14" selection-start-column="44" selection-end-line="14" selection-end-column="44" />
-          <folding />
+        <state relative-caret-position="135">
+          <caret line="14" column="44" selection-start-line="14" selection-start-column="44" selection-end-line="14" selection-end-column="44" />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/.gitignore">
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="419">
-          <caret line="27" column="0" lean-forward="true" selection-start-line="27" selection-start-column="0" selection-end-line="27" selection-end-column="0" />
-          <folding />
+        <state relative-caret-position="675">
+          <caret line="45" column="7" selection-start-line="45" selection-start-column="7" selection-end-line="45" selection-end-column="7" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$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/intake/IntakeSubsystem.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="120">
+          <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/flywheel/FlywheelSubsystem.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="60">
+          <caret line="4" lean-forward="true" selection-start-line="4" selection-end-line="4" />
         </state>
       </provider>
     </entry>

From 43736311b05b69335bbe3b5a79612b8c68601439 Mon Sep 17 00:00:00 2001
From: zsim314 <zsim314@gmail.com>
Date: Mon, 5 Nov 2018 16:18:40 -0600
Subject: [PATCH 2/3] flywheel

---
 .gradle/4.4/fileHashes/fileHashes.bin         | Bin 31247 -> 31847 bytes
 .gradle/4.4/fileHashes/fileHashes.lock        | Bin 17 -> 17 bytes
 ...edu_wpi_first_cscore_cscore_java_1_1_0.xml |   2 -
 ...edu_wpi_first_ntcore_ntcore_java_4_0_0.xml |   2 -
 ...pi_first_wpilibj_wpilibj_java_2018_1_1.xml |   2 -
 ...u_wpi_first_wpiutil_wpiutil_java_3_0_0.xml |   2 -
 ...r_third_ctre_CTRE_phoenix_java_5_1_2_1.xml |   2 -
 ...rror_third_kauailabs_navx_java_3_0_342.xml |   2 -
 ...__openrio_powerup_MatchData_2018_01_07.xml |   2 -
 .../Gradle__org_opencv_opencv_java_3_2_0.xml  |   2 -
 .idea/uiDesigner.xml                          | 124 ++++++
 .idea/workspace.xml                           | 368 ++++++++++++++----
 src/main/java/frc/team2158/robot/Robot.java   |   9 +
 .../team2158/robot/command/stopFlywheel.java  |  24 ++
 .../robot/subsystem/FlywheelSubsystem.java    |  45 +++
 15 files changed, 485 insertions(+), 101 deletions(-)
 create mode 100644 .idea/uiDesigner.xml
 create mode 100644 src/main/java/frc/team2158/robot/command/stopFlywheel.java
 create mode 100644 src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java

diff --git a/.gradle/4.4/fileHashes/fileHashes.bin b/.gradle/4.4/fileHashes/fileHashes.bin
index a1e255c55a89bf6cb989280f2acec5689a73f4c4..464e284763dd61e99e62adf2332e6b546a397186 100644
GIT binary patch
delta 491
zcmeDG!ub3L;|601CPwbbrV=;#GkI(8{jZ+F00!0bH?vA=FbYiTb>1?8SLQ23w2FVT
zs?<#;e(ilzJ{sgHLj{XBf0a>S7Pxj+HZHRESv}N%i<@~B5}Eip<J|u5JP-~MtYMy<
zs+7sE`ItZH0ILpEyW`}eN(};U4;VJTeYQggsylbHt#Sjifatc6)`jh+Jy223&0Ezh
zm<8-VWti@*d}9wa)O7PxO#wy$-_uH+Wj`Fep=zx+ztt*a;aAky?)G(UEJU#C`s7gk
znf%t3<%Jhdu|vg{PJXKI#3U)XQSpb^W=D^6h6%<%8BHKo1Yv>r^+nxRSF-JR;q%gP
zQEc{q1_s8or^muqK(zBj18F@}9nQTu^VU>WWtX4$JmaT+^-PeCYf}6Q5FM<}lNWlZ
zvZh^=jXN><qn9p-mDMmgJ_^Q~2w|03OiuI!i&ZI1-sufy)p1OI4Po`Jm@Ml97F%dA
b*&o8%v0!qekFFrlyb}&!yO>sjyrBmGC&-rv

delta 87
zcmV-d0I2`x_yLdf0kAU|0s#M$H5l2mCK(?Avt1g|0<%UP7X!0(AXx&F<|1H|UL$w2
t?IU;tvwbHp1GB{{2m!O@D`^CiW-ySG4ly|b7x}Rv_!p5dAhSV8&N09wAou_P

diff --git a/.gradle/4.4/fileHashes/fileHashes.lock b/.gradle/4.4/fileHashes/fileHashes.lock
index cdee769babf051208820e59e27be1c8603c9e5fc..d54f0b08166d91cb70ff1c2ec53d925f91356f15 100644
GIT binary patch
literal 17
VcmZRsa8vSc-!bn60~l~?0RS$I1T6pn

literal 17
VcmZRsa8vSc-!bn60~m12001t31RnqZ

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 b5c3385..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
@@ -1,12 +1,10 @@
 <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>
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 954c84c..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
@@ -1,12 +1,10 @@
 <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>
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 47b43f4..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
@@ -1,12 +1,10 @@
 <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>
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 1c49d54..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
@@ -1,12 +1,10 @@
 <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!/" />
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     <JAVADOC />
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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 b13c7a8..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
@@ -1,12 +1,10 @@
 <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!/" />
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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 4471007..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
@@ -1,12 +1,10 @@
 <component name="libraryTable">
   <library name="Gradle: openrio.mirror.third.kauailabs:navx-java:3.0.342">
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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 12c667a..74f21d1 100644
--- a/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml
+++ b/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml
@@ -1,12 +1,10 @@
 <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!/" />
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     </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!/" />
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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 4bfe5b1..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
@@ -1,12 +1,10 @@
 <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!/" />
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     <JAVADOC />
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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$Separator" icon="/com/intellij/uiDesigner/icons/toolbarSeparator.png" removable="false" auto-create-binding="false" can-attach-label="false">
+        <default-constraints vsize-policy="0" hsize-policy="0" anchor="0" fill="1" />
+      </item>
+      <item class="javax.swing.JScrollBar" icon="/com/intellij/uiDesigner/icons/scrollbar.png" removable="false" auto-create-binding="true" can-attach-label="false">
+        <default-constraints vsize-policy="6" hsize-policy="0" anchor="0" fill="2" />
+      </item>
+    </group>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index f7751d1..ae41582 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,20 +2,30 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="a7a8f5df-c8e2-49b1-928b-69681e988993" name="Default" comment="">
-      <change afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/flywheel/FlywheelSubsystem.java" afterDir="false" />
+      <change afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.java" afterDir="false" />
+      <change afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java" afterDir="false" />
       <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.bin" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.bin" afterDir="false" />
       <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.lock" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.lock" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/gradle.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/gradle.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/modules/austincans_2018.iml" beforeDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/modules/austincans_2018_main.iml" beforeDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/modules/austincans_2018_test.iml" beforeDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" afterDir="false" />
+      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml" afterDir="false" />
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       <change beforePath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.bin" beforeDir="false" afterPath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.bin" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.lock" beforeDir="false" afterPath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.lock" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/gradle.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/gradle.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/modules/austincans_2018.iml" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/modules/austincans_2018_main.iml" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/modules/austincans_2018_test.iml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml" afterDir="false" />
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     </list>
     <ignored path="$PROJECT_DIR$/.gradle/" />
@@ -46,18 +56,19 @@
     <session id="-1683344510">
       <usages-collector id="statistics.lifecycle.project">
         <counts>
+          <entry key="project.open.time.11" value="1" />
           <entry key="project.open.time.24" value="1" />
-          <entry key="project.opened" value="1" />
+          <entry key="project.opened" value="2" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.file.extensions.open">
         <counts>
-          <entry key="java" value="2" />
+          <entry key="java" value="35" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.file.types.open">
         <counts>
-          <entry key="JAVA" value="2" />
+          <entry key="JAVA" value="35" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.vcs.git.usages">
@@ -65,26 +76,52 @@
           <entry key="git.branch.create.new" value="2" />
         </counts>
       </usages-collector>
+      <usages-collector id="statistics.file.types.edit">
+        <counts>
+          <entry key="JAVA" value="515" />
+        </counts>
+      </usages-collector>
+      <usages-collector id="statistics.file.extensions.edit">
+        <counts>
+          <entry key="java" value="515" />
+        </counts>
+      </usages-collector>
     </session>
   </component>
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
+      <file pinned="false" current-in-tab="true">
+        <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="552">
+              <caret line="88" column="35" selection-start-line="88" selection-start-column="35" selection-end-line="88" selection-end-column="35" />
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+        </entry>
+      </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/Robot.java">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="585">
-              <caret line="55" column="42" selection-start-line="55" selection-start-column="42" selection-end-line="55" selection-end-column="42" />
+            <state relative-caret-position="210">
+              <caret line="18" lean-forward="true" selection-start-line="18" selection-end-line="18" />
+              <folding>
+                <element signature="imports" expanded="true" />
+              </folding>
             </state>
           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java">
+        <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="675">
-              <caret line="45" column="7" selection-start-line="45" selection-start-column="7" selection-end-line="45" selection-end-column="7" />
+            <state relative-caret-position="495">
+              <caret line="35" lean-forward="true" selection-start-line="35" selection-end-line="35" />
               <folding>
                 <element signature="imports" expanded="true" />
+                <element signature="e#729#730#0" expanded="true" />
+                <element signature="e#784#785#0" expanded="true" />
+                <element signature="e#1089#1090#0" expanded="true" />
+                <element signature="e#1127#1128#0" expanded="true" />
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@@ -93,53 +130,67 @@
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           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="120">
-              <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
+            <state relative-caret-position="-1023">
+              <caret line="16" column="25" lean-forward="true" selection-start-line="16" selection-end-line="17" />
+              <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 pinned="false" current-in-tab="true">
-        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/flywheel/FlywheelSubsystem.java">
+      <file pinned="false" current-in-tab="false">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/DriveMode.java">
+          <provider selected="true" editor-type-id="text-editor">
+            <state relative-caret-position="75">
+              <caret line="5" column="12" selection-start-line="5" selection-start-column="12" selection-end-line="5" selection-end-column="12" />
+            </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/drive/OperatorControl.java">
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-            <state relative-caret-position="60">
-              <caret line="4" lean-forward="true" selection-start-line="4" selection-end-line="4" />
+            <state relative-caret-position="150">
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       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.java">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/SetGearMode.java">
           <provider selected="true" editor-type-id="text-editor">
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-              <caret line="23" selection-start-line="23" selection-end-line="23" />
+            <state relative-caret-position="135">
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       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/Intake.java">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/ToggleGearMode.java">
           <provider selected="true" editor-type-id="text-editor">
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-              <caret line="32" column="13" selection-start-line="32" selection-start-column="13" selection-end-line="32" selection-end-column="13" />
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           </provider>
         </entry>
       </file>
       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/build.gradle">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/RobotMap.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="780">
-              <caret line="52" selection-start-line="52" selection-end-line="52" />
+            <state relative-caret-position="120">
+              <caret line="8" column="13" selection-start-line="8" selection-start-column="13" selection-end-line="8" selection-end-column="13" />
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       <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.java">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.java">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="135">
-              <caret line="14" column="44" selection-start-line="14" selection-start-column="44" selection-end-line="14" selection-end-column="44" />
+            <state relative-caret-position="270">
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             </state>
           </provider>
         </entry>
@@ -154,6 +205,11 @@
       </list>
     </option>
   </component>
+  <component name="FindInProjectRecents">
+    <findStrings>
+      <find>runinta</find>
+    </findStrings>
+  </component>
   <component name="Git.Settings">
     <option name="ROOT_SYNC" value="SYNC" />
     <option name="RECENT_GIT_ROOT_PATH" value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018" />
@@ -450,6 +506,7 @@
       <map>
         <entry key="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle" value="0" />
         <entry key="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/build.gradle" value="3643747471" />
+        <entry key="$PROJECT_DIR$" value="4623570972000" />
         <entry key="$PROJECT_DIR$/.gradle" value="0" />
         <entry key="$PROJECT_DIR$/build.gradle" value="3643747471" />
         <entry key="$PROJECT_DIR$/gradle/wrapper/gradle-wrapper.properties" value="2083459160" />
@@ -646,6 +703,11 @@
         </entry>
       </map>
     </option>
+    <option name="projectSyncType">
+      <map>
+        <entry key="$PROJECT_DIR$" value="RE_IMPORT" />
+      </map>
+    </option>
   </component>
   <component name="IdeDocumentHistory">
     <option name="CHANGED_PATHS">
@@ -667,6 +729,14 @@
         <option value="$PROJECT_DIR$/build.gradle" />
         <option value="$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.java" />
         <option value="$PROJECT_DIR$/.gitignore" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/Flywheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/intake/IntakeSubsystem.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/Robot.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/runFlyWheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/StopIntakeAndPivot.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/runFlywheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.java" />
+        <option value="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java" />
       </list>
     </option>
   </component>
@@ -681,6 +751,7 @@
       <foldersAlwaysOnTop value="true" />
     </navigator>
     <panes>
+      <pane id="Scope" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
@@ -721,7 +792,7 @@
               <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
               <item name="java" type="462c0819:PsiDirectoryNode" />
               <item name="robot" type="462c0819:PsiDirectoryNode" />
-              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="command" type="462c0819:PsiDirectoryNode" />
             </path>
             <path>
               <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
@@ -730,7 +801,7 @@
               <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
               <item name="java" type="462c0819:PsiDirectoryNode" />
               <item name="robot" type="462c0819:PsiDirectoryNode" />
-              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="command" type="462c0819:PsiDirectoryNode" />
               <item name="drive" type="462c0819:PsiDirectoryNode" />
             </path>
             <path>
@@ -741,7 +812,6 @@
               <item name="java" type="462c0819:PsiDirectoryNode" />
               <item name="robot" type="462c0819:PsiDirectoryNode" />
               <item name="subsystem" type="462c0819:PsiDirectoryNode" />
-              <item name="intake" type="462c0819:PsiDirectoryNode" />
             </path>
             <path>
               <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
@@ -751,18 +821,17 @@
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               <item name="robot" type="462c0819:PsiDirectoryNode" />
               <item name="subsystem" type="462c0819:PsiDirectoryNode" />
-              <item name="lift" type="462c0819:PsiDirectoryNode" />
+              <item name="intake" type="462c0819:PsiDirectoryNode" />
             </path>
           </expand>
           <select />
         </subPane>
       </pane>
       <pane id="PackagesPane" />
-      <pane id="Scope" />
     </panes>
   </component>
   <component name="PropertiesComponent">
-    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1541190747909" />
+    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1541456016510" />
     <property name="last_opened_file_path" value="$PROJECT_DIR$" />
     <property name="settings.editor.selected.configurable" value="reference.settingsdialog.project.gradle" />
   </component>
@@ -848,10 +917,10 @@
     <servers />
   </component>
   <component name="ToolWindowManager">
-    <frame x="0" y="23" width="2048" height="1049" extended-state="6" />
+    <frame x="0" y="23" width="2048" height="1049" extended-state="0" />
     <editor active="true" />
     <layout>
-      <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.24775673" />
+      <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.25024927" />
       <window_info id="Structure" order="1" weight="0.25" />
       <window_info id="Image Layers" order="2" />
       <window_info id="Designer" order="3" />
@@ -869,7 +938,7 @@
       <window_info anchor="bottom" id="Terminal" order="8" />
       <window_info anchor="bottom" id="Event Log" order="9" side_tool="true" />
       <window_info anchor="bottom" id="Version Control" order="10" />
-      <window_info anchor="bottom" id="Build" order="11" visible="true" weight="0.13166144" />
+      <window_info anchor="bottom" id="Build" order="11" weight="0.13166144" />
       <window_info anchor="right" id="Commander" order="0" weight="0.4" />
       <window_info anchor="right" id="Ant Build" order="1" weight="0.25" />
       <window_info anchor="right" content_ui="combo" id="Hierarchy" order="2" weight="0.25" />
@@ -885,39 +954,6 @@
     <option name="myLimit" value="2678400000" />
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   <component name="editorHistoryManager">
-    <entry file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/IterativeRobotBase.java" />
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-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/PivotUp.java" />
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/Outtake.java">
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-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/CounterClockwise.java">
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-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/StopIntakeAndPivot.java" />
-    <entry file="jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2018.1.1/beb4907631b352f07723679c3e90632c0533e725/wpilibj-java-2018.1.1-sources.jar!/edu/wpi/first/wpilibj/TimedRobot.java" />
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-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/LoggingSystem.java">
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     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/lift/MoveLift.java">
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         <state relative-caret-position="425">
@@ -1019,6 +1055,7 @@
         </state>
       </provider>
     </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/flywheel/FlywheelSubsystem.java" />
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/Robot.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="585">
@@ -1026,6 +1063,16 @@
         </state>
       </provider>
     </entry>
+    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="615">
+          <caret line="45" column="7" selection-start-line="45" selection-start-column="7" selection-end-line="45" selection-end-column="7" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/RobotMap.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="345">
@@ -1054,27 +1101,178 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/lift/LiftSubsystem.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/StopIntake.java">
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-          <caret line="45" column="7" selection-start-line="45" selection-start-column="7" selection-end-line="45" selection-end-column="7" />
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+      </provider>
+    </entry>
+    <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/Command.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="310">
+          <caret line="184" column="30" selection-start-line="184" selection-start-column="30" selection-end-line="184" selection-end-column="30" />
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+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/Outtake.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="135">
+          <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
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+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/ToggleIntakeSolenoid.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="195">
+          <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
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-    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/intake/IntakeSubsystem.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/StopIntakeAndPivot.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="120">
+        <state relative-caret-position="210">
+          <caret line="14" column="17" lean-forward="true" selection-start-line="14" selection-end-line="15" />
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+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/StopPivot.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="30">
+          <caret line="2" column="7" lean-forward="true" selection-start-line="2" selection-start-column="7" selection-end-line="2" selection-end-column="7" />
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+    </entry>
+    <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="60">
+          <caret line="8" column="13" selection-start-line="8" selection-start-column="13" selection-end-line="8" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/PivotDown.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="60">
+          <caret line="8" column="13" selection-start-line="8" selection-start-column="13" selection-end-line="8" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/Intake.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="135">
           <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
         </state>
       </provider>
     </entry>
-    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/flywheel/FlywheelSubsystem.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/PivotUp.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="60">
-          <caret line="4" lean-forward="true" selection-start-line="4" selection-end-line="4" />
+          <caret line="8" column="13" selection-start-line="8" selection-start-column="13" selection-end-line="8" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/drive/GearMode.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="105">
+          <caret line="7" column="12" selection-start-line="7" selection-start-column="12" selection-end-line="7" selection-end-column="12" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="270">
+          <caret line="23" column="40" selection-start-line="23" selection-start-column="40" selection-end-line="23" selection-end-column="40" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/RobotMap.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="120">
+          <caret line="8" column="13" selection-start-line="8" selection-start-column="13" selection-end-line="8" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <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="495">
+          <caret line="35" lean-forward="true" selection-start-line="35" selection-end-line="35" />
+          <folding>
+            <element signature="imports" expanded="true" />
+            <element signature="e#729#730#0" expanded="true" />
+            <element signature="e#784#785#0" expanded="true" />
+            <element signature="e#1089#1090#0" expanded="true" />
+            <element signature="e#1127#1128#0" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="210">
+          <caret line="18" lean-forward="true" selection-start-line="18" selection-end-line="18" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <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="-1023">
+          <caret line="16" column="25" lean-forward="true" selection-start-line="16" selection-end-line="17" />
+          <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:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/DriveMode.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="75">
+          <caret line="5" column="12" selection-start-line="5" selection-start-column="12" selection-end-line="5" selection-end-column="12" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/OperatorControl.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="150">
+          <caret line="17" column="13" selection-start-line="17" selection-start-column="13" selection-end-line="17" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/SetGearMode.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="135">
+          <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/ToggleGearMode.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="120">
+          <caret line="11" column="13" selection-start-line="11" selection-start-column="13" selection-end-line="11" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <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="552">
+          <caret line="88" column="35" selection-start-line="88" selection-start-column="35" selection-end-line="88" selection-end-column="35" />
         </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());
+    }
+}

From 8932841ae590708a4c6faab92625064062517a4a Mon Sep 17 00:00:00 2001
From: zsim314 <zsim314@gmail.com>
Date: Thu, 8 Nov 2018 18:42:55 -0600
Subject: [PATCH 3/3] testing slowdown

---
 .idea/workspace.xml                           | 313 ++++++++++--------
 .../robot/subsystem/lift/LiftSubsystem.java   |   5 +
 2 files changed, 184 insertions(+), 134 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index ae41582..9f2c1b1 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,30 +2,8 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="a7a8f5df-c8e2-49b1-928b-69681e988993" name="Default" comment="">
-      <change afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.java" afterDir="false" />
-      <change afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.bin" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.bin" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.lock" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.gradle/4.4/fileHashes/fileHashes.lock" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" afterDir="false" />
-      <change beforePath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml" beforeDir="false" afterPath="/private/var/aisdadmin/IdeaProjects/RobotCode_2018/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml" afterDir="false" />
       <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="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.bin" beforeDir="false" afterPath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.bin" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.lock" beforeDir="false" afterPath="$PROJECT_DIR$/.gradle/4.4/fileHashes/fileHashes.lock" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_cscore_cscore_java_1_1_0.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_ntcore_ntcore_java_4_0_0.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpilibj_wpilibj_java_2018_1_1.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__edu_wpi_first_wpiutil_wpiutil_java_3_0_0.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_ctre_CTRE_phoenix_java_5_1_2_1.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_mirror_third_kauailabs_navx_java_3_0_342.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__openrio_powerup_MatchData_2018_01_07.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/libraries/Gradle__org_opencv_opencv_java_3_2_0.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/" />
@@ -56,19 +34,21 @@
     <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.opened" value="2" />
+          <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="35" />
+          <entry key="java" value="44" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.file.types.open">
         <counts>
-          <entry key="JAVA" value="35" />
+          <entry key="JAVA" value="44" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.vcs.git.usages">
@@ -78,119 +58,116 @@
       </usages-collector>
       <usages-collector id="statistics.file.types.edit">
         <counts>
-          <entry key="JAVA" value="515" />
+          <entry key="JAVA" value="542" />
         </counts>
       </usages-collector>
       <usages-collector id="statistics.file.extensions.edit">
         <counts>
-          <entry key="java" value="515" />
+          <entry key="java" value="542" />
         </counts>
       </usages-collector>
     </session>
   </component>
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
-      <file pinned="false" current-in-tab="true">
+      <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="552">
-              <caret line="88" column="35" selection-start-line="88" selection-start-column="35" selection-end-line="88" selection-end-column="35" />
+            <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="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.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">
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-              <caret line="18" lean-forward="true" selection-start-line="18" selection-end-line="18" />
-              <folding>
-                <element signature="imports" expanded="true" />
-              </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>
       </file>
       <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">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/drive/TalonSRXGroup.java">
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-        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/intake/IntakeSubsystem.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">
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-        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/DriveMode.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">
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-            <state relative-caret-position="75">
-              <caret line="5" column="12" selection-start-line="5" selection-start-column="12" selection-end-line="5" selection-end-column="12" />
+            <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" />
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-        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/OperatorControl.java">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java">
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-            <state relative-caret-position="150">
-              <caret line="17" column="13" selection-start-line="17" selection-start-column="13" selection-end-line="17" selection-end-column="13" />
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+              <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>
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-        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/SetGearMode.java">
+        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/intake/IntakeSubsystem.java">
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-            <state relative-caret-position="135">
-              <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
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+                <element signature="imports" expanded="true" />
+                <element signature="e#4671#4672#0" expanded="true" />
+                <element signature="e#4730#4731#0" expanded="true" />
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-        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/ToggleGearMode.java">
+      <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">
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-            <state relative-caret-position="120">
-              <caret line="11" column="13" selection-start-line="11" selection-start-column="13" selection-end-line="11" selection-end-column="13" />
+            <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" />
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       <file pinned="false" current-in-tab="false">
-        <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/RobotMap.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/drive/DifferentialDrive.java">
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-            <state relative-caret-position="120">
-              <caret line="8" column="13" selection-start-line="8" selection-start-column="13" selection-end-line="8" selection-end-column="13" />
+            <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/subsystem/drive/DriveSubsystem.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="270">
-              <caret line="23" column="40" selection-start-line="23" selection-start-column="40" selection-end-line="23" selection-end-column="40" />
+            <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>
@@ -737,10 +714,11 @@
         <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" />
       </list>
     </option>
   </component>
-  <component name="ProjectFrameBounds">
+  <component name="ProjectFrameBounds" extendedState="6">
     <option name="y" value="23" />
     <option name="width" value="2048" />
     <option name="height" value="1049" />
@@ -751,7 +729,6 @@
       <foldersAlwaysOnTop value="true" />
     </navigator>
     <panes>
-      <pane id="Scope" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
@@ -804,6 +781,16 @@
               <item name="command" type="462c0819:PsiDirectoryNode" />
               <item name="drive" 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="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$GradleModuleDirectoryNode" />
@@ -813,6 +800,16 @@
               <item name="robot" type="462c0819:PsiDirectoryNode" />
               <item name="subsystem" type="462c0819:PsiDirectoryNode" />
             </path>
+            <path>
+              <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
+              <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="src" type="462c0819:PsiDirectoryNode" />
+              <item name="main" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
+              <item name="java" type="462c0819:PsiDirectoryNode" />
+              <item name="robot" type="462c0819:PsiDirectoryNode" />
+              <item name="subsystem" type="462c0819:PsiDirectoryNode" />
+              <item name="drive" type="462c0819:PsiDirectoryNode" />
+            </path>
             <path>
               <item name="RobotCode_2018" type="b2602c69:ProjectViewProjectNode" />
               <item name="RobotCode_2018" type="8a07ba80:GradleTreeStructureProvider$GradleModuleDirectoryNode" />
@@ -823,15 +820,26 @@
               <item name="subsystem" 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" />
+              <item name="lift" type="462c0819:PsiDirectoryNode" />
+            </path>
           </expand>
           <select />
         </subPane>
       </pane>
+      <pane id="Scope" />
       <pane id="PackagesPane" />
     </panes>
   </component>
   <component name="PropertiesComponent">
-    <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1541456016510" />
+    <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" />
   </component>
@@ -917,10 +925,10 @@
     <servers />
   </component>
   <component name="ToolWindowManager">
-    <frame x="0" y="23" width="2048" height="1049" extended-state="0" />
+    <frame x="0" y="23" width="2048" height="1049" extended-state="6" />
     <editor active="true" />
     <layout>
-      <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.25024927" />
+      <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.25274178" />
       <window_info id="Structure" order="1" weight="0.25" />
       <window_info id="Image Layers" order="2" />
       <window_info id="Designer" order="3" />
@@ -954,19 +962,6 @@
     <option name="myLimit" value="2678400000" />
   </component>
   <component name="editorHistoryManager">
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/lift/MoveLift.java">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="425">
-          <caret line="29" column="23" selection-start-line="29" selection-start-column="23" selection-end-line="29" selection-end-column="23" />
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-    </entry>
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/StopPivot.java" />
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/command/intake/PivotDown.java" />
-    <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/smartdashboard/SmartDashboard.java" />
-    <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/autonomous/RunForward.java" />
-    <entry file="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!/com/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.java" />
-    <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/Spark.java" />
     <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/PWMSpeedController.java" />
     <entry file="file://$PROJECT_DIR$/src/main/java/frc/team2158/robot/OperatorInterface.java">
       <provider selected="true" editor-type-id="text-editor">
@@ -1067,9 +1062,6 @@
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         <state relative-caret-position="615">
           <caret line="45" column="7" selection-start-line="45" selection-start-column="7" selection-end-line="45" selection-end-column="7" />
-          <folding>
-            <element signature="imports" expanded="true" />
-          </folding>
         </state>
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@@ -1156,13 +1148,6 @@
         </state>
       </provider>
     </entry>
-    <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="60">
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     <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/intake/PivotDown.java">
       <provider selected="true" editor-type-id="text-editor">
         <state relative-caret-position="60">
@@ -1191,10 +1176,13 @@
         </state>
       </provider>
     </entry>
-    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/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/command/stopFlywheel.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="270">
-          <caret line="23" column="40" selection-start-line="23" selection-start-column="40" selection-end-line="23" selection-end-column="40" />
+        <state relative-caret-position="165">
+          <caret line="18" selection-start-line="18" selection-end-line="18" />
+          <folding>
+            <element signature="imports" expanded="true" />
+          </folding>
         </state>
       </provider>
     </entry>
@@ -1205,34 +1193,74 @@
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       </provider>
     </entry>
-    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/FlywheelSubsystem.java">
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/DriveMode.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="75">
+          <caret line="5" column="12" selection-start-line="5" selection-start-column="12" selection-end-line="5" selection-end-column="12" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/OperatorControl.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="150">
+          <caret line="17" column="13" selection-start-line="17" selection-start-column="13" selection-end-line="17" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/SetGearMode.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="135">
+          <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/ToggleGearMode.java">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="495">
-          <caret line="35" lean-forward="true" selection-start-line="35" selection-end-line="35" />
+        <state relative-caret-position="120">
+          <caret line="11" column="13" selection-start-line="11" selection-start-column="13" selection-end-line="11" selection-end-column="13" />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/subsystem/drive/DriveSubsystem.java">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="285">
+          <caret line="49" column="31" selection-start-line="49" selection-start-column="31" selection-end-line="49" selection-end-column="31" />
           <folding>
-            <element signature="imports" expanded="true" />
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-            <element signature="e#1089#1090#0" expanded="true" />
-            <element signature="e#1127#1128#0" expanded="true" />
+            <element signature="e#1903#1904#0" expanded="true" />
+            <element signature="e#1967#1968#0" expanded="true" />
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     </entry>
-    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/stopFlywheel.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/drive/DifferentialDrive.java">
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-        <state relative-caret-position="210">
-          <caret line="18" lean-forward="true" selection-start-line="18" selection-end-line="18" />
+        <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="imports" expanded="true" />
+            <element signature="e#5532#5533#0" expanded="true" />
+            <element signature="e#5578#5579#0" expanded="true" />
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         </state>
       </provider>
     </entry>
+    <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>
+    <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="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:///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="-1023">
-          <caret line="16" column="25" lean-forward="true" selection-start-line="16" selection-end-line="17" />
+        <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" />
@@ -1241,38 +1269,55 @@
         </state>
       </provider>
     </entry>
-    <entry file="file:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/DriveMode.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="75">
-          <caret line="5" column="12" selection-start-line="5" selection-start-column="12" selection-end-line="5" selection-end-column="12" />
+        <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:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/OperatorControl.java">
+    <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="150">
-          <caret line="17" column="13" selection-start-line="17" selection-start-column="13" selection-end-line="17" selection-end-column="13" />
+        <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:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/SetGearMode.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="135">
-          <caret line="13" column="13" selection-start-line="13" selection-start-column="13" selection-end-line="13" selection-end-column="13" />
+        <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:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/command/drive/ToggleGearMode.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="120">
-          <caret line="11" column="13" selection-start-line="11" selection-start-column="13" selection-end-line="11" selection-end-column="13" />
+        <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:///private/var/aisdadmin/IdeaProjects/RobotCode_2018/src/main/java/frc/team2158/robot/Robot.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="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:///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="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:///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="552">
-          <caret line="88" column="35" selection-start-line="88" selection-start-column="35" selection-end-line="88" selection-end-column="35" />
+        <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/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);
     }