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diff --git a/Nate's Position Testing/Shooter Testing/src/init.c b/Nate's Position Testing/Shooter Testing/src/init.c
new file mode 100644
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+++ b/Nate's Position Testing/Shooter Testing/src/init.c
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+/** @file init.c
+ * @brief File for initialization code
+ *
+ * This file should contain the user initialize() function and any functions related to it.
+ *
+ * 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.
+ */
+
+#include "main.h"
+Encoder encoder1,encoder2;
+/*
+ * 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() {
+
+
+	pinMode(1,INPUT);
+	pinMode(2,INPUT);
+	pinMode(3,INPUT);
+	pinMode(4,INPUT);
+	pinMode(5,INPUT);
+	pinMode(6,INPUT);
+	pinMode(7,INPUT);
+	pinMode(8,INPUT);
+
+
+
+
+//	Setup sensors.
+
+
+
+
+}/*
+ * 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() {
+	lcdInit(uart2);
+	lcdClear(uart2);
+	lcdSetBacklight(uart2,1);
+	encoder1 = encoderInit(3,4,true);
+	encoder2 = encoderInit(5,6,true);
+}