1814D Macros/Automation Explained

Hello everyone! I want to show a little bit of the macros that I programmed. This robot is heavily programmed which helps it get the best performance as it also simplifies life for me, an individual who has not practiced with a ballbot in over 2 years and decided to build one for worlds.

Although this is a video explaining macros, there’s still a lot that isn’t discussed such as:
Explanation as to why I always use the right triggers. Because in computer gaming our right fingers will be more responsive as they are used with the mouse.
Intake anti-jam, which the intake runs a control loop when active that would actively monitor the speed of the intake and correct itself if it jams.