public void disabledPeriodic()
	{
		if (System.currentTimeMillis() >= time + 20)	{
			time = System.currentTimeMillis();
			if (oi.getGunS() > 0.5)
				auton = "Left";
			else if (oi.getGunS() < -0.5)
				auton = "Right";
			else
				auton = "None";
			Log.println(auton);
		}
		SmartDashboard.putString("Auton selector", auton);
		Scheduler.getInstance().run();
	}