I'll look into the Y-cable, we may or may not already have one.
Here is the code after the suggested modifications.
If I understand this correctly, because the code was originally in teleop it would have kept auto repeating whatever was in the loop forever?
This is the updated code in Periodic tasks, are there any global variables etc.. of the sort that I need to setup for it to function right? Or does periodic tasks work seamlessly in teleop mode (haven't done much periodic tasks code)
Thanks,