Revert "took out in progress code"
Revert "took out in progress code"

This reverts commit 18c9e77094c0225fe3adba21b2e6d7cdb66f75f5.

RoboJackets/robocup-software,JNeiger/robocup-software,JNeiger/robocup-software,RoboJackets/robocup-software,RoboJackets/robocup-software,JNeiger/robocup-software,JNeiger/robocup-software,JNeiger/robocup-software,RoboJackets/robocup-software