[Greg McKaskle]

Did you really mean to set the PID coefficients for driving to 0, 0, and 0?

Did you really mean to se the Left and Right Drive values to 0 and 0?

I didn't look as closely at the shooter, but it looks like globals that describe the set points of the control loops aren't telling the robot to do much. If 16 isn't the auto you wanted comments on, post another picture.

Greg McKaskle