[fireXtract]

Okay, I understand that we can leave the thread just running in the background, and the servo will move the first time we press the button, but I want to be able to press the button more than once per run of the robot. The way it is setup with your changed code I still run into the issue of only being able to kick the ball one time per power cycle. What can I do to fix that?

EDIT: Actually I pushed the code, and the second time I run the autoKick() method the code crashes with Illegal thread state errors.