private void getUpgrade(RobotController rc) {
        if(upgradeTwo){
            if (this.upgrade==NUKE) {
                this.upgrade = VISION;
            } else {
                this.upgrade = NUKE;
            }
        } else {
            if(rc.hasUpgrade(PICKAXE)&&rc.hasUpgrade(DEFUSION)&&rc.hasUpgrade(FUSION))
                this.upgradeTwo = true;
            switch (this.upgrade) {
                case PICKAXE:
                    this.upgrade = DEFUSION;
                    break;
                case DEFUSION:
                    this.upgrade = FUSION;
                    break;
                case FUSION:
                    this.upgrade = PICKAXE;
                    break;
            }
        }
        if(rc.hasUpgrade(this.upgrade)) {
            this.getUpgrade(rc);
        }
    }