This can be moved from https://github.com/Sacrafex after the season is over.
Left Joystick - Swerve Location Control Right Joystick Swerve Rotation Control
R1 (Right Bumper) - AutoAlign and Shoot (Code does everything)
At any field position, this button will find the quickest way to spin and aim at the hopper. Once it is within the tolerance, it will start firing.
R2 - Manual Shooter Control
L1 (Left Bumper) - Set Robot Swerve Gyro
Red - Limelights are not returning expected values Green - Manual Control Blue - Automatic Align and Shoot or other function