[Aaron.Graeve]

Just looking at it briefly, it seems your drive forward would actually drive in an arc either left or right, depending on your mechanical setup. This can be fixed either by using Tank Drive, or by changing the x-value to 0, so no turning occurs.

Secondly, your fire/reset code looks to be fine; however, you may run into an issue that you need to actuate the arm motor and the servo at different times due to the nature of your loading mechanism.

Thirdly, it is worth pointing out that the servo may have ambiguous behavior at the end of autonomous. I do not recall off hand whether the ServoClose resets the servo or just cuts the output. You may need to set the position at the end to reset it, if that is what you want.

I am not seeing anything else, but I may have missed something. I would advise talking to someone from 33, as their code is insane and they are brilliant with LabVIEW.