Added control for the shooter, as well as more output options. Added many comments so hopefully this version will be easily readable. Current Control setup: x - toggle drive mode, y - view the current speed of the shooter motor, b - toggle the shooter motor on/off, LStick (x&y axes) - arcade drive when in arcade drive mode, LStick (y axis) + RStick (y axis) - tank drive when in tank mode, LB - decrement shooter speed, RB - increment shooter speed.