Optimise the network usage. (And not send updates on constants every interval.) Also fixed the direction read out.
-encoder readouts still need to be optimised, preferably by a rounded update and change rate (like shooter values but rounded to say, 100) Or by interval.
-moody by whenever moody changes (similar to shooter value again.)

<3 intervaled code (And i'm being honest, I don't know why I didn't think of this sooner.)