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Refactor controller to reduce verbosity, fix init bug#20

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Bostwickenator wants to merge 2 commits intoXRobots:masterfrom
Bostwickenator:patch-1
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Refactor controller to reduce verbosity, fix init bug#20
Bostwickenator wants to merge 2 commits intoXRobots:masterfrom
Bostwickenator:patch-1

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@Bostwickenator
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Refactored slightly to reduce the length and remove a bunch of unneeded temp variables. Hope this is helpful!
@Bostwickenator
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Made that change should remove the existing bug :)

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