/** This function is called periodically during test mode */ public void testPeriodic() { Watchdog.getInstance().feed(); // Tell watchdog we are running drive(); shooterUse(); // shooterLoft(); armUse(); System.out.println( "loftPot value: " + loftPot.getValue() + " armPot Value: " + armPot.getValue()); if (xboxDriver .getBtnBACK()) { // when driver controls, hold button BACK to unwind winch, release to stop, // only for testing winchRelay.set(Relay.Value.kOn); winchRelay.setDirection(Relay.Direction.kForward); } }