dbadb

 /**
     * This function is called periodically during operator control.
     *
     * The code uses state machines to ensure that no matter what buttons the driver presses, the robot behaves in a
     * safe and consistent manner.
     *
     * Based on driver input, the code sets a desired state for each subsystem. Each subsystem will constantly compare
     * its desired and actual states and act to bring the two closer.
     */
   public void teleopPeriodic() {