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Brought in Drive and Limelight subsystem and adjusted controller - #1

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21stcenturymacgyver wants to merge 2 commits into
Tyler-Stocks:masterfrom
21stcenturymacgyver:master
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Brought in Drive and Limelight subsystem and adjusted controller#1
21stcenturymacgyver wants to merge 2 commits into
Tyler-Stocks:masterfrom
21stcenturymacgyver:master

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@21stcenturymacgyver

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I've never done a pull request, but when you forked from my code I hadn't pushed the last commit from that computer.

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