Fixed pragma, added motors to IRTest
modified goal hooks

put in correct values
Revert "modified goal hooks"

This reverts commit a28c9d4df3ddeaace0da6280fbec60f8d74976dc.
Revert "Revert "modified goal hooks""

This reverts commit c413add9bd301100f3e20cdc8ade0fb3fe436a9a.