diff --git a/.gitignore b/.gitignore
index c6127b3..95b3ea7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -50,3 +50,6 @@ modules.order
 Module.symvers
 Mkfile.old
 dkms.conf
+
+# macOS
+.DS_Store
diff --git a/robot.c b/robot.c
index 924eb9e..4c3118f 100644
--- a/robot.c
+++ b/robot.c
@@ -1,105 +1,120 @@
-#pragma config(Sensor, dgtl1, fireRelay, sensorDigitalOut)
-#pragma config(Motor, port2, rightDriveMotor, tmotorServoContinuousRotation, openLoop, driveRight)
-#pragma config(Motor, port3, leftDriveMotor, tmotorServoContinuousRotation, openLoop, driveLeft)
-#pragma config(Motor, port4, armMotor, tmotorServoContinuousRotation, openLoop)
-//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
-
-int RELAY_DELAY = 100; // milliseconds
-const int FIRE_CONFIRM_DELAY = 1000; // milliseconds
-const int DB_THRESH = 10;
-
-int fireConfirmTimer;
-int fireRelayTimer;
-bool fireConfirmTimerRunning = false;
-bool fireRelayTimerRunning = false;
-
-float squareInput(float input) {
-	return input * abs(input) / 100;
-}
-
-float deadband(float input) {
-	return (abs(input) >= DB_THRESH) ? input : 0;
-}
-
-task main()
-{
-	while (true) {
-	  /**
-		 * Open loop arcade drive.
-		 */
-		float throttle = vexRT[Ch3];
-		float turn = vexRT[Ch1];
-		int slowturn = vexRT[Btn6U];
-
-		throttle = deadband(throttle);
-		turn = deadband(turn);
-
-		if (slowturn == 1) {
-			turn /= 2;
-		}
-
-		throttle = squareInput(throttle);
-		turn = squareInput(turn);
-
-		if (fireConfirmTimerRunning == false) {
-			motor[rightDriveMotor] = throttle + turn;
-			motor[leftDriveMotor] = throttle - turn;
-		}
-		else {
-			motor[rightDriveMotor] = 0.0;
-			motor[leftDriveMotor] = 0.0;
-		}
-
-		/**
-		 * Open loop arm control.
-		 */
-		int upBtn = vexRT[Btn5U]; // boolean, 0 or 1
-		int downBtn = vexRT[Btn5D]; // boolean, 0 or 1
-
-		if (upBtn == 1) {
-			motor[armMotor] = 0.5;
-		}
-		else if (downBtn == 1) {
-			motor[armMotor] = -0.5;
-		}
-		else {
-			motor[armMotor] = 0.0;
-		}
-
-		/**
-		 * Cannon control.
-		 */
-		int fireBtn = vexRT[Btn6D];
-
-		if (vexRT[Btn7U] == 1) { RELAY_DELAY = 100; }
-		if (vexRT[Btn7R] == 1) { RELAY_DELAY = 200; }
-		if (vexRT[Btn7D] == 1) { RELAY_DELAY = 300; }
-		if (vexRT[Btn7L] == 1) { RELAY_DELAY = 400; }
-		if (vexRT[Btn8U] == 1) { RELAY_DELAY = 500; }
-		if (vexRT[Btn8R] == 1) { RELAY_DELAY = 600; }
-		if (vexRT[Btn8D] == 1) { RELAY_DELAY = 700; }
-		if (vexRT[Btn8U] == 1) { RELAY_DELAY = 800; }
-
-		if (fireBtn == 1 && fireConfirmTimerRunning == false) {
-			clearTimer(T1);
-			fireConfirmTimer = time1[T1];
-			fireConfirmTimerRunning = true;
-		}
-		else if (fireBtn == 0 && fireConfirmTimerRunning == true && fireRelayTimerRunning == false) {
-			fireConfirmTimerRunning = false;
-		}
-
-		if (fireConfirmTimer >= FIRE_CONFIRM_DELAY && fireConfirmTimerRunning == true) {
-			clearTimer(T2);
-			fireRelayTimer = time1(T2);
-			fireRelayTimerRunning = true;
-			SensorValue[fireRelay] = 1;
-
-			if (fireRelayTimer >= RELAY_DELAY) {
-				SensorValue[fireRelay] = 0;
-				fireRelayTimerRunning = false;
-				fireConfirmTimerRunning = false;
-			}
-		}
-	}
-}
+#pragma config(Sensor, dgtl2,  fireRelay,      sensorDigitalOut)
+#pragma config(Sensor, dgtl3,  reservedRelay1, sensorDigitalOut)
+#pragma config(Sensor, dgtl4,  reservedRelay2, sensorDigitalOut)
+#pragma config(Sensor, dgtl5,  reservedRelay3, sensorDigitalOut)
+#pragma config(Sensor, dgtl6,  reservedRelay4, sensorDigitalOut)
+#pragma config(Sensor, dgtl7,  reservedRelay5, sensorDigitalOut)
+#pragma config(Sensor, dgtl8,  reservedRelay6, sensorDigitalOut)
+#pragma config(Sensor, dgtl9,  maxHall,        sensorDigitalIn)
+#pragma config(Sensor, dgtl10, minHall,        sensorDigitalIn)
+#pragma config(Motor,  port2,           rightDriveMotor, tmotorServoContinuousRotation, openLoop, driveRight)
+#pragma config(Motor,  port3,           leftDriveMotor, tmotorServoContinuousRotation, openLoop, driveLeft)
+#pragma config(Motor,  port4,           armMotor,      tmotorServoContinuousRotation, openLoop)
+//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
+
+const int DB_THRESH = 10; // radius
+
+int FIRE_RELAY_DELAY = 100; // milliseconds
+const int FIRE_CONFIRM_DELAY = 1000; // milliseconds
+bool firingStarted = false; // true if fireBtn pressed, routine started
+bool fireCooldown = false; // true once fired, prevents rapid fire unless driver lets go of the button
+
+// Make square inputs for joysticks
+float squareJoystickInput(float input) {
+	return input * abs(input) / 127;
+}
+
+// Create a deadband for joysticks
+float deadbandJoystickInput(float input) {
+	return (abs(input) >= DB_THRESH) ? input : 0.0;
+}
+
+// Fire a bean bag!
+void fireBeanBag(int fireDelay) {
+	SensorValue[fireRelay] = 1;
+	sleep(fireDelay);
+	SensorValue[fireRelay] = 0;
+	firingStarted = false;
+	fireCooldown = true;
+}
+
+// Main task
+task main()
+{
+	// Main loop
+	while (true) {
+		/**
+		 * Open loop arcade drive.
+		 */
+		float throttle = vexRT[Ch3]; // Throttle amount (left joystick up & down)
+		float turn = vexRT[Ch1]; // Turn amount (right joystick left & right)
+		int slowturn = vexRT[Btn6U]; // Slow down turning
+
+		throttle = deadbandJoystickInput(throttle); // Deadband throttle
+		turn = deadbandJoystickInput(turn); // Deadband turn
+
+		// Slow down turning
+		if (slowturn == 1) {
+			turn /= 2;
+		}
+
+		throttle = squareJoystickInput(throttle); // Square throttle inputs
+		turn = squareJoystickInput(turn); // Square turn inputs
+
+		// Drivetrain control
+		if (firingStarted == false) {
+			motor[rightDriveMotor] = throttle + turn;
+			motor[leftDriveMotor] = throttle - turn;
+		}
+		else {
+			motor[rightDriveMotor] = 0.0;
+			motor[leftDriveMotor] = 0.0;
+		}
+
+	  /**
+		 * Open loop arm control.
+		 */
+		int upBtn = vexRT[Btn5U]; // Move arm up
+		int downBtn = vexRT[Btn5D]; // Move arm down
+
+		// Arm movement hall w/ soft limits
+		if (upBtn == 1 && SensorValue[maxHall] == 0) {
+			motor[armMotor] = 63.5;
+		}
+		else if (downBtn == 1 && SensorValue[minHall] == 0) {
+			motor[armMotor] = -63.5;
+		}
+		else {
+			motor[armMotor] = 0.0;
+		}
+
+		/**
+		 * Cannon control.
+		 */
+		int fireBtn = vexRT[Btn6D];
+
+		if (vexRT[Btn7U] == 1) { FIRE_RELAY_DELAY = 100; } // 100 ms delay
+		if (vexRT[Btn7R] == 1) { FIRE_RELAY_DELAY = 200; } // 200 ms delay
+		if (vexRT[Btn7D] == 1) { FIRE_RELAY_DELAY = 300; } // 300 ms delay
+		if (vexRT[Btn7L] == 1) { FIRE_RELAY_DELAY = 400; } // 400 ms delay
+		if (vexRT[Btn8U] == 1) { FIRE_RELAY_DELAY = 500; } // 500 ms delay
+		if (vexRT[Btn8R] == 1) { FIRE_RELAY_DELAY = 600; } // 600 ms delay
+		if (vexRT[Btn8D] == 1) { FIRE_RELAY_DELAY = 700; } // 700 ms delay
+		if (vexRT[Btn8L] == 1) { FIRE_RELAY_DELAY = 800; } // 800 ms delay
+
+		// Firing routine
+		if (fireBtn == 1 && firingStarted == false && fireCooldown == false) {
+			firingStarted = true;
+			clearTimer(T1);
+		}
+		else if (fireBtn == 0 && firingStarted == true) {
+			firingStarted = false;
+		}
+		else if (fireBtn == 0 && fireCooldown == true) {
+			fireCooldown = false;
+		}
+		else if (firingStarted == true && time1[T1] >= FIRE_CONFIRM_DELAY) {
+			fireBeanBag(FIRE_RELAY_DELAY);
+		}
+	}
+}