[BigJ]

To reply further on the clusters, the only format I could get to work was in a dashboard example (We use C++, though). Whenever I tried to do it myself, the dashboard DID NOT like it. I was gonna play a bit and document the default dashboard cluster setup (the example didn't have much and didn't see any in the WPILib docs) but never had enough time. It might be out there, I don't think I researched too hard.