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diff --git a/Nate's Position Testing/Shooter Testing/include/main.h b/Nate's Position Testing/Shooter Testing/include/main.h
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+/** @file main.h
+ * @brief Header file for global functions
+ * 
+ * Any experienced C or C++ programmer knows the importance of header files. For those who
+ * do not, a header file allows multiple files to reference functions in other files without
+ * necessarily having to see the code (and therefore causing a multiple definition). To make
+ * a function in "opcontrol.c", "auto.c", "main.c", or any other C file visible to the core
+ * implementation files, prototype it here.
+ *
+ * This file is included by default in the predefined stubs in each VEX Cortex PROS Project.
+ *
+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Purdue University ACM SIG BOTS nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be
+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.
+ */
+#ifndef MAIN_H_
+
+// This prevents multiple inclusion, which isn't bad for this file but is good practice
+#define MAIN_H_
+
+#include <API.h>
+
+// Allow usage of this file in C++ programs
+#ifdef __cplusplus
+extern "C" {
+#endif
+// A function prototype looks exactly like its declaration, but with a semicolon instead of
+// actual code. If a function does not match a prototype, compile errors will occur.
+
+// Prototypes for initialization, operator control and autonomous
+
+/**
+ * Runs the user autonomous code. This function will be started in its own task with the default
+ * priority and stack size whenever the robot is enabled via the Field Management System or the
+ * VEX Competition Switch in the autonomous mode. If the robot is disabled or communications is
+ * lost, the autonomous task will be stopped by the kernel. Re-enabling the robot will restart
+ * the task, not re-start it from where it left off.
+ *
+ * Code running in the autonomous task cannot access information from the VEX Joystick. However,
+ * the autonomous function can be invoked from another task if a VEX Competition Switch is not
+ * available, and it can access joystick information if called in this way.
+ *
+ * The autonomous task may exit, unlike operatorControl() which should never exit. If it does
+ * so, the robot will await a switch to another mode or disable/enable cycle.
+ */
+void autonomous();
+/**
+ * Runs pre-initialization code. This function will be started in kernel mode one time while the
+ * VEX Cortex is starting up. As the scheduler is still paused, most API functions will fail.
+ *
+ * The purpose of this function is solely to set the default pin modes (pinMode()) and port
+ * states (digitalWrite()) of limit switches, push buttons, and solenoids. It can also safely
+ * configure a UART port (usartOpen()) but cannot set up an LCD (lcdInit()).
+ */
+void initializeIO();
+/**
+ * Runs user initialization code. This function will be started in its own task with the default
+ * priority and stack size once when the robot is starting up. It is possible that the VEXnet
+ * communication link may not be fully established at this time, so reading from the VEX
+ * Joystick may fail.
+ *
+ * This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global
+ * variables, and IMEs.
+ *
+ * This function must exit relatively promptly, or the operatorControl() and autonomous() tasks
+ * will not start. An autonomous mode selection menu like the pre_auton() in other environments
+ * can be implemented in this task if desired.
+ */
+void initialize();
+/**
+ * Runs the user operator control code. This function will be started in its own task with the
+ * default priority and stack size whenever the robot is enabled via the Field Management System
+ * or the VEX Competition Switch in the operator control mode. If the robot is disabled or
+ * communications is lost, the operator control task will be stopped by the kernel. Re-enabling
+ * the robot will restart the task, not resume it from where it left off.
+ *
+ * If no VEX Competition Switch or Field Management system is plugged in, the VEX Cortex will
+ * run the operator control task. Be warned that this will also occur if the VEX Cortex is
+ * tethered directly to a computer via the USB A to A cable without any VEX Joystick attached.
+ *
+ * Code running in this task can take almost any action, as the VEX Joystick is available and
+ * the scheduler is operational. However, proper use of delay() or taskDelayUntil() is highly
+ * recommended to give other tasks (including system tasks such as updating LCDs) time to run.
+ *
+ * This task should never exit; it should end with some kind of infinite loop, even if empty.
+ */
+extern Encoder encoder1,encoder2;
+void operatorControl();
+
+// End C++ export structure
+#ifdef __cplusplus
+}
+#endif
+
+#endif