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Re: How does this program look?
In your begin, your shooter is a RobotDrive, but in Teleop, it is a MotorControl. They should be the same if you want it to work. I recommend that everything other then your drive train be MotorControl.
In telop, the Shooter Get reference is right to left, but everything else looks good.
In the toolbar of the block diagram, you can press the broom icon, and it will attempt to automatically clean up your diagram.
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