	private static void initCompetition(){
        gyroChassis = new Gyro(ANA1, CompetitionBot.Analog.GYRO); 
        configA = new AnalogChannel(ANA1, CompetitionBot.Analog.CONFIG_A);
        configB = new AnalogChannel(ANA1, CompetitionBot.Analog.CONFIG_B);
        configC = new AnalogChannel(ANA1, CompetitionBot.Analog.CONFIG_C);
        encoderDriveLeft = new Encoder(DIO1, CompetitionBot.DigitalIn1.LEFT_DRIVE_ENCODER_A,
									   DIO1, CompetitionBot.DigitalIn1.LEFT_DRIVE_ENCODER_B);
        encoderDriveRight = new Encoder(DIO1, CompetitionBot.DigitalIn1.RIGHT_DRIVE_ENCODER_A,
										DIO1, CompetitionBot.DigitalIn1.RIGHT_DRIVE_ENCODER_B);
        encoderWinch = new Encoder(DIO1, CompetitionBot.DigitalIn1.WINCH_ENCODER_A, 
								   DIO1, CompetitionBot.DigitalIn1.WINCH_ENCODER_B);
        limitWinchA = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.WINCH_LIMIT_A);
        limitWinchB = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.WINCH_LIMIT_B);
        limitArmA = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ARM_LIMIT_A);
        limitArmB = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ARM_LIMIT_B);
        limitElevatorA = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ELEVATOR_LIMIT_A);
        limitElevatorB = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ELEVATOR_LIMIT_B);
		counterShooterSpeed = new FancyCounter(DIO1, CompetitionBot.DigitalIn1.SHOOTER_SPEED_ENCODER, TPP_COUNTER_SHOOTER_SPEED);
		counterShooterAngle = new FancyCounter(DIO1, CompetitionBot.DigitalIn1.SHOOTER_ANGLE_ENCODER, TPP_COUNTER_SHOOTER_ANGLE);
        encoderElevator = new Encoder(DIO1, CompetitionBot.DigitalIn2.ELEVATOR_ENCODER_A, DIO2, CompetitionBot.DigitalIn2.ELEVATOR_ENCODER_B);
		encoderElevator.start();
        limitHookLeftBase = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.HOOK_LEFT_BASE_LIMIT);
        limitHookRightBase = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.HOOK_RIGHT_BASE_LIMIT);
        limitDiscTop = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.DISC_ORIENTATION_LIMIT_A);
        limitDiscBottom = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.DISC_ORIENTATION_LIMIT_B);
        limitShooterA = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.SHOOTER_LIMIT_A);
        limitShooterB = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.SHOOTER_LIMIT_B);
		pressureSwitch = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.PRESSURE_SWITCH);
	}

	private static void initCompetition(){
        gyroChassis = new Gyro(ANA1, CompetitionBot.Analog.GYRO); 
        configA = new AnalogChannel(ANA1, CompetitionBot.Analog.CONFIG_A);
        configB = new AnalogChannel(ANA1, CompetitionBot.Analog.CONFIG_B);
        configC = new AnalogChannel(ANA1, CompetitionBot.Analog.CONFIG_C);
        encoderDriveLeft = new Encoder(DIO1, CompetitionBot.DigitalIn1.LEFT_DRIVE_ENCODER_A,
									   DIO1, CompetitionBot.DigitalIn1.LEFT_DRIVE_ENCODER_B);
        encoderDriveRight = new Encoder(DIO1, CompetitionBot.DigitalIn1.RIGHT_DRIVE_ENCODER_A,
										DIO1, CompetitionBot.DigitalIn1.RIGHT_DRIVE_ENCODER_B);
        encoderWinch = new Encoder(DIO1, CompetitionBot.DigitalIn1.WINCH_ENCODER_A, 
								   DIO1, CompetitionBot.DigitalIn1.WINCH_ENCODER_B);
        limitWinchA = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.WINCH_LIMIT_A);
        limitWinchB = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.WINCH_LIMIT_B);
        limitArmA = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ARM_LIMIT_A);
        limitArmB = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ARM_LIMIT_B);
        limitElevatorA = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ELEVATOR_LIMIT_A);
        limitElevatorB = new DigitalInput(DIO1, CompetitionBot.DigitalIn1.ELEVATOR_LIMIT_B);
		counterShooterSpeed = new FancyCounter(DIO1, CompetitionBot.DigitalIn1.SHOOTER_SPEED_ENCODER, TPP_COUNTER_SHOOTER_SPEED);
		counterShooterAngle = new FancyCounter(DIO1, CompetitionBot.DigitalIn1.SHOOTER_ANGLE_ENCODER, TPP_COUNTER_SHOOTER_ANGLE);
        encoderElevator = new Encoder(DIO2, CompetitionBot.DigitalIn2.ELEVATOR_ENCODER_A, DIO2, CompetitionBot.DigitalIn2.ELEVATOR_ENCODER_B);
		encoderElevator.start();
        limitHookLeftBase = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.HOOK_LEFT_BASE_LIMIT);
        limitHookRightBase = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.HOOK_RIGHT_BASE_LIMIT);
        limitDiscTop = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.DISC_ORIENTATION_LIMIT_A);
        limitDiscBottom = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.DISC_ORIENTATION_LIMIT_B);
        limitShooterA = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.SHOOTER_LIMIT_A);
        limitShooterB = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.SHOOTER_LIMIT_B);
		pressureSwitch = new DigitalInput(DIO2, CompetitionBot.DigitalIn2.PRESSURE_SWITCH);
	}
