End of worlds! ~ Arya Shajpaul, Good job team! Go MOE!

src/org/usfirst/frc/team365/robot/Robot.java

@@ -4,7 +4,7 @@
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
-
+//Ahhh, it was fun time! 10 out of 10 would do again! - Arya 
 package org.usfirst.frc.team365.robot;
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
@@ -425,14 +425,23 @@ public void teleopInit() {
 	public void teleopPeriodic() {
 		lightsR.setPulseDuration(.5);
 		lightsL.setPulseDuration(0.5);
-		if(driveStick.getRawButtonReleased(5)){
-			lightsR.startPulse();
-			lightsL.startPulse();
+		if(functionStick.getX(Hand.kLeft) < -0.2){
+			lightsL.set(true);
+		}
+		else if(functionStick.getX(Hand.kLeft) > 0.2){
+			lightsR.set(true);
 		}
-		if(driveStick.getRawButton(7)){
+		else{
 			lightsR.set(false);
 			lightsL.set(false);
 		}
+
+		if(functionStick.getY(Hand.kLeft) > .7){
+			if(autoTimer.hasPeriodPassed(.3)){
+				lightsR.set(!lightsR.get());
+				lightsL.set(!lightsL.get());
+			}
+		}
 		double yJoy = -driveStick.getY();
 		double xJoy = driveStick.getX();
 		if (shifter.get()) {

src/org/usfirst/frc/team365/robot/ScaleScaleCombo.java

@@ -51,7 +51,7 @@ public static void leftStart(Robot robot) {
 		case 7:	
 			AutoSimplify.lowerElevator(robot, robot.HEIGHT_ABOVE_CUBE);
 			//AutoSimplify.openGrabber(robot);
-			AutoSimplify.goStraight(robot, 2.9*FEET, 90, 0.4);
+			AutoSimplify.goStraight(robot, 2.5*FEET, 90, 0.4);
 			//ROBOT GOES STRAIGHT
 			break;
 		case 8:
@@ -138,7 +138,7 @@ public static void rightStart(Robot robot) {
 			case 7:	
 				AutoSimplify.lowerElevator(robot, robot.HEIGHT_ABOVE_CUBE);
 				//AutoSimplify.openGrabber(robot);
-				AutoSimplify.goStraight(robot, 2.9*FEET, -90, 0.4);
+				AutoSimplify.goStraight(robot, 2.5*FEET, -90, 0.4);
 				//ROBOT GOES STRAIGHT
 				break;
 			case 8: