[TubaMorg]

That is pretty slick. My only concern was/is that the code would be stuck in Initialize() in the while(1) loop, but from what you said this isn't true? So say we start the robot up normally for testing with our dongle set to enable and manual (OperatorControl). Initialize is called first, but how does it get out of the while loop and continue on to OperatorControl? Similarly, during competition, how does the program know when Initialize is done if it's always in the while loop in Initialize()?