Code was tweaked a TON at competition.

Added two more Joysticks for the assistant driver to do the manual work on the robot (allowing the driver to focus on driving/playing).
Added dead reckoning 10-point autonomous code ("tested," needs work/"calibration")
Played with commands a bit
Code was tweaked a TON at competition. Added more Joysticks for assistant driver, changed autonomous, lots of other stuff.
Added Thread output when new Thread is started (diagnostic purposes).