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diff --git a/build/tmp/jar/MANIFEST.MF b/build/tmp/jar/MANIFEST.MF
deleted file mode 100644
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--- a/build/tmp/jar/MANIFEST.MF
+++ /dev/null
@@ -1,3 +0,0 @@
-Manifest-Version: 1.0
-Main-Class: frc.robot.Main
-
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diff --git a/build/tmp/jniExtractDir/wpiHal.dll b/build/tmp/jniExtractDir/wpiHal.dll
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deleted file mode 100644
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diff --git a/build/tmp/jniExtractDir/wpiutil.dll b/build/tmp/jniExtractDir/wpiutil.dll
deleted file mode 100644
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diff --git a/build/tmp/jniExtractDir/wpiutiljni.dll b/build/tmp/jniExtractDir/wpiutiljni.dll
deleted file mode 100644
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diff --git a/gradlew b/gradlew
old mode 100644
new mode 100755
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 94e0949..539d6b8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -16,6 +16,7 @@
 import frc.robot.core751.subsystems.DifferentialDriveTrain;
 import frc.robot.core751.subsystems.DifferentialDriveTrain.driveMotor;
 import frc.robot.core751.subsystems.LightStrip.Orientation;
+import frc.robot.core751.wrappers.OverrideableJoystick;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide
@@ -48,7 +49,7 @@ public int getButtonMapping() {
 
     }
     
-    public static Joystick driverStick = new Joystick(Constants.driveStickPort);
+    public static OverrideableJoystick driverStick = new OverrideableJoystick(Constants.driveStickPort);
 
       /*================================/ 
      /===========Drive Train===========/
diff --git a/src/main/java/frc/robot/Replay.java b/src/main/java/frc/robot/Replay.java
new file mode 100644
index 0000000..05422c8
--- /dev/null
+++ b/src/main/java/frc/robot/Replay.java
@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot;
+
+/**
+ * Add your docs here.
+ */
+public class Replay {
+    public static Double[][] array = {{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.17322835326194763D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18897637724876404D},{0.4330708682537079D,0.18897637724876404D},{0.4330708682537079D,0.18897637724876404D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.16535432636737823D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11023622006177902D},{0.4330708682537079D,0.11023622006177902D},{0.4330708682537079D,0.11023622006177902D},{0.4330708682537079D,0.09448818862438202D},{0.4251968562602997D,0.07086614519357681D},{0.4251968562602997D,0.06299212574958801D},{0.4251968562602997D,0.05511811003088951D},{0.4251968562602997D,0.05511811003088951D},{0.4251968562602997D,0.05511811003088951D},{0.4173228442668915D,0.05511811003088951D},{0.4173228442668915D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4015747904777527D,0.07874015718698502D},{0.3937007784843445D,0.10236220806837082D},{0.3858267664909363D,0.11023622006177902D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3858267664909363D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3779527544975281D,0.11023622006177902D,1D},{0.3385826647281647D,0.08661417663097382D,1D},{0.3385826647281647D,0.08661417663097382D,1D},{0.10236220806837082D,0.0D,1D},{0.007874015718698502D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D}};
+
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7ec7dfe..e2962e9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,6 +23,8 @@
 import frc.robot.core751.subsystems.LightStrip;
 import frc.robot.subsystems.*;
 import frc.robot.commands.SimpleAuton;
+import frc.robot.core751.commands.JoystickPlayer;
+import frc.robot.core751.commands.JoystickRecorder;
 
 /**
  * This class is where the bulk of the robot should be declared.  Since Command-based is a
@@ -40,7 +42,7 @@ public class RobotContainer {
 
   private final DifferentialDriveTrain differentialDriveTrain = new DifferentialDriveTrain(Constants.leftDrivetrainIDs, Constants.rightDrivetrainIDs, Constants.driveTrainMotorType, Constants.driveMotorProfile, Constants.driveInvertLeft, Constants.driveInvertRight);
   private final ReversableArcadeDrive reversableArcadeDrive = new ReversableArcadeDrive(Constants.driverStick, differentialDriveTrain);
-  private final SwitchDriveDirection switchDriveDirection = new SwitchDriveDirection(differentialDriveTrain);
+  private final SwitchDriveDirection switchDriveDirection = new SwitchDriveDirection(differentialDriveTrain, 0, 1);
 
   private final LightStrip[] lightStrips = new LightStrip[] {
     new LightStrip(Constants.FTLEDstart, Constants.FTLEDLength, Constants.FTLEDOrientation),
@@ -55,22 +57,21 @@ public class RobotContainer {
   private final RotateThenSelect rotateThenSelect = new RotateThenSelect(panel, lightStrips);
   private final TogglePanelPosition togglePanelPosition = new TogglePanelPosition(panel);
 
-  private Camera camera;
+  private final Camera camera0 = new Camera(0);
+  private final Camera camera1 = new Camera(1);
 
   private final Ball ball = new Ball(Constants.ballIntakeMotorID, Constants.ballPolycordMotorID, Constants.ballOutakeMotorID);
   private final DefaultBall defaultBall = new DefaultBall(ball, Constants.driverStick, Constants.ballLBumper, Constants.ballRBumper, Constants.ballOutButton, Constants.ballReverseOutButton);
 
   private final PowerDistributionPanel pdp = new PowerDistributionPanel();
+  
+  private final JoystickRecorder joystickRecorder = new JoystickRecorder(Constants.driverStick);
+  private final JoystickPlayer joystickPlayer = new JoystickPlayer(Replay.array, Constants.driverStick);
 
   /**
    * The container for the robot.  Contains subsystems, OI devices, and commands.
    */
   public RobotContainer() {
-    try {
-      this.camera = new Camera(0);
-    } catch (Exception e) {
-      System.out.println(e);
-    }
     //Configure the button bindings
     configureButtonBindings();
   }
@@ -101,6 +102,8 @@ private void configureButtonBindings() {
     SmartDashboard.putData(goToColor);
     SmartDashboard.putData(rotateWheel);
     SmartDashboard.putData(rotateThenSelect);
+    SmartDashboard.putData(joystickRecorder);
+    SmartDashboard.putData(joystickPlayer);
   }
 
 
@@ -114,4 +117,4 @@ public Command getAutonomousCommand() {
     //TODO: Add auto command
     return new SimpleAuton(differentialDriveTrain, ball);
   }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/core751 b/src/main/java/frc/robot/core751
index 6e65a18..c2032c1 160000
--- a/src/main/java/frc/robot/core751
+++ b/src/main/java/frc/robot/core751
@@ -1 +1 @@
-Subproject commit 6e65a187811cab44b0d92f200c4ab4a6b10a97df
+Subproject commit c2032c11793fd8232b095cb936b36d42241bd13c