[Levansic]

We had an interesting day. Early on, one of our limit switches failed. This exposed a flaw in our interlock logic where our catapult could and did fire. Parts flew.

The problem was traced to the switch. We had the exact same failure later on, on the other side of the robot. Luckily, no one was hurt.

On the positive side, we had cleaned enough cruft from our code that our CPU usage had dropped to a steady 30%. We achieved a large portion of this by moving the CAN calling portion of the drive code to another loop (thread) apart from all of our driver filter, gyro, and PID. With this change, we also stopped getting any CAN errors.