[Greg McKaskle]

There are wires that leave the screen and come back, but it sure looks like you have two different loops that look at a joystick button and control the shooter arm. True, they are buttons on two different joysticks, but if both are pressed, the outcome would be pretty much impossible to predict.

Also, you are explicitly enabling motor safety. When you do this, the motors will update to zero if they don't receive a value every 100ms by default. But you are waiting for hundreds of ms at points. You probably don't need motor safety on for your shooter.

Greg McKaskle