Merge pull request #28 from FIRST-4030/master

.
Merge pull request #29 from FIRST-4030/SamCode

Sam code
Merge pull request #30 from FIRST-4030/master

Merge Changes
Debug Changes
Merge pull request #31 from FIRST-4030/SamCode

.
Merge pull request #32 from FIRST-4030/master

Merge Changes
Resolve Conflicts
Resolved Conflicts