[SudoSammich]

I didn't set out to re-invent the wheel, but it came to that after a small series of events. Basically, our cRio is stuck on last year's bot, so we're using the '07 robot controller and player station mounted to a piece of plywood. As such, I'm writing in C, not LabVIEW (our normal programming language at this point is Java anyway, but I assume there's a class for that as well). And I'm sure it's capable of two dimensional movement while spinning, I just haven't put forth the energy into performing those calculations yet. Good to know that there's a class waiting for me when we transition to this year's real bot though.