diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 8d19c1e..7130758 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-869912976868427516" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1917928739181448850" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/Debug/src/IControl.o b/Debug/src/IControl.o
index 15363f1..82f7a49 100644
Binary files a/Debug/src/IControl.o and b/Debug/src/IControl.o differ
diff --git a/src/Components/RelayController.cpp b/src/Components/RelayController.cpp
index 82f87b3..76ac6eb 100644
--- a/src/Components/RelayController.cpp
+++ b/src/Components/RelayController.cpp
@@ -14,54 +14,38 @@ const int RELAY_BLUE = 0;
 
 RelayController::RelayController() {
 	// TODO Auto-generated constructor stub
-	Red = new Relay(RelayIO::RELAY_RED);
-	Blue = new Relay(RelayIO::RELAY_BLUE);
+	Red = new Relay(RelayIO::RELAY_RED, Relay::kForwardOnly);
+	Blue = new Relay(RelayIO::RELAY_BLUE, Relay::kForwardOnly);
 }
 
 RelayController::~RelayController() {
 	// TODO Auto-generated destructor stub
 	delete Red;
 	delete Blue;
-	Red = 0;
-	Blue = 0;
 }
 
-void RelayController::ToggleColor() {
-	switch (currnet) {
-	case RelayColor::neither:
-		break; //TODO
-	case RelayColor::blue:
-		break; //TODO
-	case RelayColor::red:
-		break; // TODO
-	}
-}
 
-void RelayController::setColor(RelayColor color) {
-	if(currnet != color){
-	switch (color) {
-	case RelayColor::neither:
+void RelayController::TeleopInit()
+{
+	DriverStation::Alliance alligent = DriverStation::GetInstance().GetAlliance();
+	switch(alligent){
+	case DriverStation::kBlue:
 		Red->Set(Relay::kOff);
-		Blue->Set(Relay::kOff);
+		Blue->Set(Relay::kOn);
 		break;
-	case RelayColor::red:
+	case DriverStation::kRed:
 		Red->Set(Relay::kOn);
 		Blue->Set(Relay::kOff);
 		break;
-	case RelayColor::blue:
+	case DriverStation::kInvalid:
 		Red->Set(Relay::kOff);
 		Blue->Set(Relay::kOn);
 		break;
 	}
-	currnet = color;
-	}
-}
-
-void RelayController::relayBlink(int speed) {
-
 }
 
-void RelayController::burnUp() {
+void RelayController::AutonomousInit()
+{
 	DriverStation::Alliance alligent = DriverStation::GetInstance().GetAlliance();
 	switch(alligent){
 	case DriverStation::kBlue:
@@ -79,28 +63,42 @@ void RelayController::burnUp() {
 	}
 }
 
-void RelayController::stopBlink() {
-	burnUp();
-}
-
-void RelayController::TeleopInit()
-{
-	burnUp();
-}
-
-void RelayController::AutonomousInit()
-{
-	burnUp();
-}
-
 void RelayController::RobotInit()
 {
-	burnUp();
+	DriverStation::Alliance alligent = DriverStation::GetInstance().GetAlliance();
+	switch(alligent){
+	case DriverStation::kBlue:
+		Red->Set(Relay::kOff);
+		Blue->Set(Relay::kOn);
+		break;
+	case DriverStation::kRed:
+		Red->Set(Relay::kOn);
+		Blue->Set(Relay::kOff);
+		break;
+	case DriverStation::kInvalid:
+		Red->Set(Relay::kOff);
+		Blue->Set(Relay::kOn);
+		break;
+	}
 }
 
 void RelayController::DisabledInit()
 {
-	burnUp();
+	DriverStation::Alliance alligent = DriverStation::GetInstance().GetAlliance();
+	switch(alligent){
+	case DriverStation::kBlue:
+		Red->Set(Relay::kOff);
+		Blue->Set(Relay::kOn);
+		break;
+	case DriverStation::kRed:
+		Red->Set(Relay::kOn);
+		Blue->Set(Relay::kOff);
+		break;
+	case DriverStation::kInvalid:
+		Red->Set(Relay::kOff);
+		Blue->Set(Relay::kOn);
+		break;
+	}
 }
 
 /*
diff --git a/src/Robot.cpp b/src/Robot.cpp
index 2364a7a..0b491be 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -127,6 +127,10 @@ class Robot: public IterativeRobot {
 			test = test->parent;
 		}
 
+
+		// Turn???
+		NavxSensorControl::AutonomousPeriodic(turn);
+
 	}
 
 	void TeleopInit() {
diff --git a/src/SensorControl/NavxSensorControl.cpp b/src/SensorControl/NavxSensorControl.cpp
index dc0d890..90cad14 100644
--- a/src/SensorControl/NavxSensorControl.cpp
+++ b/src/SensorControl/NavxSensorControl.cpp
@@ -6,6 +6,7 @@
  */
 
 #include <SensorControl/NavxSensorControl.h>
+#include <math.h>
 
 NavxSensorControl::NavxSensorControl(IXbox *xboxInstance,
 		IProfile *profileInstance, IVision *visionInstance) {
@@ -79,7 +80,8 @@ void NavxSensorControl::TargetingStateMachine() {
 	float motorSpeed = 0;
 	switch (targetState) {
 	case TargetingState::waitForButtonPress:
-		if (xbox->getLeftTriggerPressed()) {
+		if ((xbox->getLeftTriggerPressed() && !comp)
+				|| (xbox->getLeftBumperPressed() && comp)) {
 			commandDriveState = DriveSystemState::stopped;
 			targetState = TargetingState::waitForStopped;
 		}
@@ -93,6 +95,9 @@ void NavxSensorControl::TargetingStateMachine() {
 		}
 		break;
 	case TargetingState::waitForPicResult:
+		if (xbox->getStartPressed()) {
+
+		}
 		if (vision->getDoneAiming()) {
 
 			visionTargetAngle = vision->getDegreesToTurn();
@@ -108,7 +113,7 @@ void NavxSensorControl::TargetingStateMachine() {
 		}
 		break;
 	case TargetingState::driveToAngle:
-		if (fabs(turnController->GetError()) < 3) {
+		if (fabs(turnController->GetError()) < 1) {
 			if (t == NULL) {
 				t = new Timer();
 				t->Start();
@@ -159,9 +164,18 @@ void NavxSensorControl::TargetingStateMachine() {
 }
 
 void NavxSensorControl::PIDWrite(float output) {
+	bool positive=output>=0;
+	output=sqrt(fabs(output));//negative numbers don't have a real square root
+	if (!positive)
+		output*=-1;
 	turnSpeed = output;
 }
 
+void NavxSensorControl::RobotInit() {
+	SmartDashboard::PutNumber("P", 0);
+	SmartDashboard::PutNumber("I", 0);
+	SmartDashboard::PutNumber("D", 0);
+}
 void NavxSensorControl::TeleopInit() {
 	ahrs->ZeroYaw();
 	turnSpeed = 0;
@@ -169,6 +183,7 @@ void NavxSensorControl::TeleopInit() {
 	currentDriveState = DriveSystemState::running;
 	commandDriveState = DriveSystemState::running;
 	t = NULL;
+
 	turnController->SetPID(0.055, 0.0004, 0.0);
 	left->Reset();
 	right->Reset();
diff --git a/src/SensorControl/NavxSensorControl.h b/src/SensorControl/NavxSensorControl.h
index ca5b917..ec3c697 100644
--- a/src/SensorControl/NavxSensorControl.h
+++ b/src/SensorControl/NavxSensorControl.h
@@ -49,6 +49,7 @@ class NavxSensorControl: public ISensorControl, public PIDOutput {
 	MotorCommand *UpdateMotorSpeeds(float leftMotorSpeed, float rightMotorSpeed);
 	DriveSystemState DriveSystemControlUpdate(DriveSystemState currentState, DriveSystemState requestedState);
 
+	void RobotInit();
 	void TeleopInit();
 	void TeleopPeriodic();
 	void AutonomousInit();
@@ -72,6 +73,7 @@ class NavxSensorControl: public ISensorControl, public PIDOutput {
 	float turnSpeed;
 	int currentStep;
 
+	bool comp = true;
 	bool inAutonomous;
 	bool time;
 	bool autoTime;
diff --git a/src/Shooter/Shooter.cpp b/src/Shooter/Shooter.cpp
index 8352564..d51caca 100644
--- a/src/Shooter/Shooter.cpp
+++ b/src/Shooter/Shooter.cpp
@@ -137,7 +137,7 @@ void Shooter::TeleopInit() {
 }
 
 void Shooter::TeleopPeriodic() {
-	readXboxState();
+	readXboxComp();
 	updateMotor2();
 	setPnumatics();
 
@@ -181,7 +181,10 @@ void Shooter::TeleopPeriodic() {
 		}
 	}*/
 
-	intakeSpeed = SmartDashboard::GetNumber("Intake Speed Change", -0.7);
+	intakeSpeed = SmartDashboard::GetNumber("Intake Speed Change", 0.7);
+	if(intakeDirection){
+		intakeSpeed = -intakeSpeed;
+	}
 
 	switch (sState) {
 	case ready:
@@ -317,6 +320,97 @@ void Shooter::readXboxState() {
 	}
 }
 
+void Shooter::readXboxComp() {
+	if (xbox->getRightBumperPressed()) { //Up
+		angle = !angle;
+	}
+
+	if (xbox->getLeftTriggerPressed()) {
+		intakePos = !intakePos;
+		runIntake = !runIntake;
+		//TODO run motors for 2 sec after retract
+	}
+
+	if(xbox->getAPressed())
+	{
+		intakeDirection = !intakeDirection;
+	}
+
+	if (xbox->getBackPressed()) {
+		runIntake = !runIntake;
+	}
+
+	if(xbox->getYPressed())
+	{
+		//TODO Reverse Motors
+	}
+
+	switch (sState) {
+	case ready:
+		if (xbox->getRightTriggerPressed()) {
+			sState = windup;
+		}
+		break;
+	case windup:
+		runShoot = true;
+		if (xbox->getRightTriggerPressed()) {
+			sState = goShoot;
+		}
+		if (xbox->getBPressed()) {
+			sState = winddown;
+		}
+		break;
+	case goShoot:
+		runTrigger = true;
+
+		if (t == NULL) {
+			t = new Timer();
+			t->Start();
+		} else {
+			if (t->Get() > 1) {
+				time = true;
+			}
+		}
+
+		if (time) {
+			sState = winddown;
+			time = false;
+			delete t;
+			t = NULL;
+		}
+
+		break;
+	case winddown:
+		runShoot = false;
+		runTrigger = false;
+
+		if (t == NULL) {
+			t = new Timer();
+			t->Start();
+		} else {
+			if (t->Get() > 1) {
+				time = true;
+			}
+		}
+
+		if (time) {
+			sState = ready;
+			time = false;
+			delete t;
+			t = NULL;
+		}
+		break;
+	}
+
+	if (xbox->getXPressed()) {
+		if (shootPercentState < 4) {
+			shootPercentState++;
+		} else {
+			shootPercentState = 0;
+		}
+	}
+}
+
 void Shooter::setPnumatics() {
 
 	if (angle) {
@@ -349,11 +443,11 @@ void Shooter::updateMotor2() {
 	}
 
 	if (runIntake) {
-		/*if (intakeDirection) {
-		 intakeSpeed = 1;
-		 } else {
-		 intakeSpeed = -1;
-		 }*/
+//		if (intakeDirection) {
+//		 intakeSpeed = ;
+//		 } else {
+//		 intakeSpeed = -1;
+//		 }
 	} else {
 		intakeSpeed = 0.0;
 	}
diff --git a/src/Shooter/Shooter.h b/src/Shooter/Shooter.h
index b25360a..dc80a11 100644
--- a/src/Shooter/Shooter.h
+++ b/src/Shooter/Shooter.h
@@ -29,6 +29,7 @@ class Shooter: public IControl {
 	//Input from Xbox Controller
 	void readXbox();
 	void readXboxState();
+	void readXboxComp(); // Lukas and Aaron layout
 	void setPnumatics();
 	void updateMotor1(); // w/ encoders
 	void updateMotor2(); // w/o encoders
diff --git a/sysProps.xml b/sysProps.xml
index ea4f7a3..d0a2eaf 100644
Binary files a/sysProps.xml and b/sysProps.xml differ