[jhellr13]

I changed some stuff and tried to fix what you suggested though somethings i was unsure of. Let me know how this one looks. Could you possibly comment in the physical code what I need to change?
In regards to the code on the top, that is for the kinect. Don't worry about that because it works PERFECTLY! I'm just worried with that part in regards to the digital inputs on the driver station and how I attached that array to a case structure outside.