[Anupam Goli]

Well, based on our drive format of choice currently (currently we are doing tank, and if you noticed we had a software switch to go from meccanum to Tank). The robot would not be able to move really well anyway, and wouldn't the Jags that were declared up until the exception was thrown be running?

2. I'm sure that there should be while(isEnabled()) instead of a while(true), while loops with boolean true are normally used for software written for running on actual computers, no embedded systems. I'll change that so I don't do something fatal.

3. We were planning on using something we call "minithreading" during autonomous; basically, we have the compressor run as a background process (it will only check the switch once every 30 seconds orso) and have the arm and drive being constantly processed.

4. I understand about CPU Starvation, but we shuld get good results for teleop in this setup. In autonomous, things are going to be different if we implement actual threading. (two possiblities: implement threading or have everything written as a step function to increment constantly).

I normally stick to Java convention, this time around i forgot for a few seconds. (Also, I hate having instance fields at the bottom of the class)

Thanks for your review and help. I will amend all of what needs to be amended now.