From ad6b56e2c01d7abb12981e670cb28900a3e0932e Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Fri, 27 Oct 2023 00:43:22 +0000
Subject: [PATCH 01/16] yoober is right goboer is left group

---
 src/main/java/frc/SubSystems/Drivetrain.java | 19 +++++++++++++++++++
 src/main/java/frc/robot/Robot.java           | 17 ++++++++++++-----
 2 files changed, 31 insertions(+), 5 deletions(-)
 create mode 100644 src/main/java/frc/SubSystems/Drivetrain.java

diff --git a/src/main/java/frc/SubSystems/Drivetrain.java b/src/main/java/frc/SubSystems/Drivetrain.java
new file mode 100644
index 0000000..c83850a
--- /dev/null
+++ b/src/main/java/frc/SubSystems/Drivetrain.java
@@ -0,0 +1,19 @@
+package frc.SubSystems;
+import org.carlmontrobotics.lib199.MotorControllerFactory;
+import org.carlmontrobotics.lib199.MotorConfig;
+import com.revrobotics.CANSparkMax;
+
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+
+public class Drivetrain {
+    CANSparkMax rightMotor1 = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
+    CANSparkMax rightMotor2 = MotorControllerFactory.createSparkMax(2,MotorConfig.NEO);
+    CANSparkMax leftMotor1 = MotorControllerFactory.createSparkMax(3,MotorConfig.NEO);
+    CANSparkMax leftMotor2 = MotorControllerFactory.createSparkMax(4,MotorConfig.NEO);
+    MotorControllerGroup rightGroup = new MotorControllerGroup(rightMotor1, rightMotor2);
+    MotorControllerGroup leftGroup = new MotorControllerGroup(leftMotor1, leftMotor2);
+    public void drive(double goober,double yoober) {
+        rightGroup.set(yoober);
+        leftGroup.set(goober);
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index b68462c..9e638e6 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -7,12 +7,13 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
+import frc.SubSystems.Drivetrain;
+import edu.wpi.first.wpilibj.XboxController;
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
-
+  private XboxController controller = new XboxController(0);
   private RobotContainer m_robotContainer;
-
+  private Drivetrain drive = new Drivetrain();
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
@@ -53,9 +54,15 @@ public void teleopInit() {
       m_autonomousCommand.cancel();
     }
   }
-
+  
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+    double speed = -controller.getRawAxis(1);
+    double turn = controller.getRawAxis(4);
+    double left = speed - turn;
+    double right = speed + turn;
+    drive.drive(left, right);
+  }
 
   @Override
   public void teleopExit() {}

From 81eb6c0e160f7f50c8ef19239000c13d01fcc2a3 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Fri, 27 Oct 2023 00:55:41 +0000
Subject: [PATCH 02/16] drivetrain drive.drive is how it works B)

---
 src/main/java/frc/robot/Robot.java | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 9e638e6..c4a6507 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -5,6 +5,7 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.SubSystems.Drivetrain;
@@ -14,6 +15,7 @@ public class Robot extends TimedRobot {
   private XboxController controller = new XboxController(0);
   private RobotContainer m_robotContainer;
   private Drivetrain drive = new Drivetrain();
+  Timer timer = new Timer();
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
@@ -36,14 +38,19 @@ public void disabledExit() {}
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
+    timer.start();
+    drive.drive(0.5,0.5);
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
   }
 
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+    if (timer.get() > 10) {
+      drive.drive(0, 0);
+    } 
+  }
 
   @Override
   public void autonomousExit() {}

From 50d1e9597d70a08d3d8a754e01276281b31f04e5 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Fri, 27 Oct 2023 01:29:06 +0000
Subject: [PATCH 03/16] im gonna implement a 'gringle' method later

---
 src/main/java/frc/robot/Robot.java          | 13 +++++++++++++
 src/main/java/frc/robot/RobotContainer.java |  1 -
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index c4a6507..5b1c4ba 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -12,10 +12,14 @@
 import edu.wpi.first.wpilibj.XboxController;
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
+
   private XboxController controller = new XboxController(0);
+  
+
   private RobotContainer m_robotContainer;
   private Drivetrain drive = new Drivetrain();
   Timer timer = new Timer();
+  boolean tank = false;
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
@@ -69,6 +73,15 @@ public void teleopPeriodic() {
     double left = speed - turn;
     double right = speed + turn;
     drive.drive(left, right);
+
+    if (controller.getXButtonPressed()) {
+      if(tank) {
+        tank = false;
+      }
+      if(!tank) {
+        tank = true;
+      }
+    }
   }
 
   @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..9aa789e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,7 +6,6 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-
 public class RobotContainer {
   public RobotContainer() {
     configureBindings();

From db8ef1ca4ac9307821b03f610edd614b09b3f0fb Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Fri, 27 Oct 2023 02:59:05 +0000
Subject: [PATCH 04/16] Tank drive added + togglable Roogie = right Loogie =
 left If you don't like my naming patterns code your own >:(

---
 src/main/java/frc/robot/Robot.java | 28 ++++++++++++++++++----------
 1 file changed, 18 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 5b1c4ba..87a8086 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -12,14 +12,14 @@
 import edu.wpi.first.wpilibj.XboxController;
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
-
-  private XboxController controller = new XboxController(0);
-  
-
-  private RobotContainer m_robotContainer;
+//___________________________________________________________________
+//Kenneth's Valuble Variables
   private Drivetrain drive = new Drivetrain();
+  private XboxController controller = new XboxController(0);
   Timer timer = new Timer();
   boolean tank = false;
+//___________________________________________________________________
+  private RobotContainer m_robotContainer;
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
@@ -68,11 +68,19 @@ public void teleopInit() {
   
   @Override
   public void teleopPeriodic() {
-    double speed = -controller.getRawAxis(1);
-    double turn = controller.getRawAxis(4);
-    double left = speed - turn;
-    double right = speed + turn;
-    drive.drive(left, right);
+    if (!tank) {
+      double speed = -controller.getRawAxis(1);
+      double turn = controller.getRawAxis(2);
+      double left = speed - turn;
+      double right = speed + turn;
+      drive.drive(left, right);
+    }
+   
+    if (tank) {
+      double loogi = -controller.getRawAxis(1);
+      double roogi = -controller.getRawAxis(3);
+      drive.drive(loogi,roogi);
+    }
 
     if (controller.getXButtonPressed()) {
       if(tank) {

From d4b122e2edf448f8904c650cda9b80dffb08d295 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Sat, 28 Oct 2023 03:01:01 +0000
Subject: [PATCH 05/16] sad day for names

---
 src/main/java/frc/SubSystems/Drivetrain.java | 25 +++++++++++++-------
 src/main/java/frc/robot/Robot.java           | 13 +++++-----
 src/main/java/frc/robot/RobotContainer.java  | 16 ++++++++++++-
 3 files changed, 37 insertions(+), 17 deletions(-)

diff --git a/src/main/java/frc/SubSystems/Drivetrain.java b/src/main/java/frc/SubSystems/Drivetrain.java
index c83850a..7541c5d 100644
--- a/src/main/java/frc/SubSystems/Drivetrain.java
+++ b/src/main/java/frc/SubSystems/Drivetrain.java
@@ -6,14 +6,21 @@
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 
 public class Drivetrain {
-    CANSparkMax rightMotor1 = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
-    CANSparkMax rightMotor2 = MotorControllerFactory.createSparkMax(2,MotorConfig.NEO);
-    CANSparkMax leftMotor1 = MotorControllerFactory.createSparkMax(3,MotorConfig.NEO);
-    CANSparkMax leftMotor2 = MotorControllerFactory.createSparkMax(4,MotorConfig.NEO);
-    MotorControllerGroup rightGroup = new MotorControllerGroup(rightMotor1, rightMotor2);
-    MotorControllerGroup leftGroup = new MotorControllerGroup(leftMotor1, leftMotor2);
-    public void drive(double goober,double yoober) {
-        rightGroup.set(yoober);
-        leftGroup.set(goober);
+    boolean tank = false;
+    CANSparkMax rightMotor = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
+    CANSparkMax leftMotor = MotorControllerFactory.createSparkMax(2,MotorConfig.NEO);
+   
+    public void drive(double left,double right) {
+        rightMotor.set(right);
+        leftMotor.set(left);
+    }
+    public boolean swap() {
+        if (tank) {
+            tank = false;
+        }
+        if (!tank) {
+            tank = true;
+        }
+        return tank;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 87a8086..da89da1 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -68,18 +68,17 @@ public void teleopInit() {
   
   @Override
   public void teleopPeriodic() {
-    if (!tank) {
-      double speed = -controller.getRawAxis(1);
-      double turn = controller.getRawAxis(2);
+    double speed = -controller.getLeftY();
+     double turn = controller.getLeftX();
+    if (drive.swap()) {
       double left = speed - turn;
       double right = speed + turn;
       drive.drive(left, right);
     }
    
-    if (tank) {
-      double loogi = -controller.getRawAxis(1);
-      double roogi = -controller.getRawAxis(3);
-      drive.drive(loogi,roogi);
+    if (!drive.swap()) {
+      double rightYAxis = -controller.getRightY();
+      drive.drive(speed,rightYAxis);
     }
 
     if (controller.getXButtonPressed()) {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9aa789e..2ff63e7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,12 +6,26 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.SubSystems.Drivetrain;
+
+import java.sql.Driver;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.XboxController.Button;
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 public class RobotContainer {
+  public XboxController controller = new XboxController(0);
+  public final GenericHID driverController = new GenericHID(0);
+  public Drivetrain drivetrain = new Drivetrain();
+
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+      new JoystickButton(driverController, Button.kX.value).onTrue(new InstantCommand(()->{drivetrain.swap();}));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

From da240a867b68940306a5f0ab3098a05a0115cff1 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Sat, 28 Oct 2023 03:28:43 +0000
Subject: [PATCH 06/16] yes

---
 src/main/java/frc/SubSystems/Drivetrain.java | 14 ++++++----
 src/main/java/frc/robot/Robot.java           | 27 ++++++++------------
 2 files changed, 19 insertions(+), 22 deletions(-)

diff --git a/src/main/java/frc/SubSystems/Drivetrain.java b/src/main/java/frc/SubSystems/Drivetrain.java
index 7541c5d..4bc1a95 100644
--- a/src/main/java/frc/SubSystems/Drivetrain.java
+++ b/src/main/java/frc/SubSystems/Drivetrain.java
@@ -6,7 +6,7 @@
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 
 public class Drivetrain {
-    boolean tank = false;
+    private boolean tank = false;
     CANSparkMax rightMotor = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
     CANSparkMax leftMotor = MotorControllerFactory.createSparkMax(2,MotorConfig.NEO);
    
@@ -14,13 +14,17 @@ public void drive(double left,double right) {
         rightMotor.set(right);
         leftMotor.set(left);
     }
-    public boolean swap() {
+    
+    public void swap() {
         if (tank) {
-            tank = false;
-        }
-        if (!tank) {
             tank = true;
         }
+        if(!tank) {
+            tank = false;
+        }
+    }
+
+    public boolean isTank() {
         return tank;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index da89da1..2feb49c 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -14,10 +14,10 @@ public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 //___________________________________________________________________
 //Kenneth's Valuble Variables
-  private Drivetrain drive = new Drivetrain();
+  private Drivetrain drivetrain = new Drivetrain();
   private XboxController controller = new XboxController(0);
   Timer timer = new Timer();
-  boolean tank = false;
+  
 //___________________________________________________________________
   private RobotContainer m_robotContainer;
   @Override
@@ -28,6 +28,7 @@ public void robotInit() {
   @Override
   public void robotPeriodic() {
     CommandScheduler.getInstance().run();
+
   }
 
   @Override
@@ -43,16 +44,17 @@ public void disabledExit() {}
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
     timer.start();
-    drive.drive(0.5,0.5);
+    drivetrain.drive(0.5,0.5);
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
   }
+  
 
   @Override
   public void autonomousPeriodic() {
     if (timer.get() > 10) {
-      drive.drive(0, 0);
+      drivetrain.drive(0, 0);
     } 
   }
 
@@ -70,24 +72,15 @@ public void teleopInit() {
   public void teleopPeriodic() {
     double speed = -controller.getLeftY();
      double turn = controller.getLeftX();
-    if (drive.swap()) {
+    if (drivetrain.isTank()) {
       double left = speed - turn;
       double right = speed + turn;
-      drive.drive(left, right);
+      drivetrain.drive(left, right);
     }
    
-    if (!drive.swap()) {
+    if (!drivetrain.isTank()) {
       double rightYAxis = -controller.getRightY();
-      drive.drive(speed,rightYAxis);
-    }
-
-    if (controller.getXButtonPressed()) {
-      if(tank) {
-        tank = false;
-      }
-      if(!tank) {
-        tank = true;
-      }
+      drivetrain.drive(speed,rightYAxis);
     }
   }
 

From 75c665f8ac46b48633fc1a5d4aea5712e3406e70 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Sat, 28 Oct 2023 03:41:59 +0000
Subject: [PATCH 07/16] new code

---
 src/main/java/frc/SubSystems/Drivetrain.java | 11 +++--------
 src/main/java/frc/robot/Constants.java       |  7 +++++--
 src/main/java/frc/robot/RobotContainer.java  |  4 +++-
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc/SubSystems/Drivetrain.java b/src/main/java/frc/SubSystems/Drivetrain.java
index 4bc1a95..50e1e26 100644
--- a/src/main/java/frc/SubSystems/Drivetrain.java
+++ b/src/main/java/frc/SubSystems/Drivetrain.java
@@ -6,7 +6,7 @@
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 
 public class Drivetrain {
-    private boolean tank = false;
+    private boolean isTank = false;
     CANSparkMax rightMotor = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
     CANSparkMax leftMotor = MotorControllerFactory.createSparkMax(2,MotorConfig.NEO);
    
@@ -16,15 +16,10 @@ public void drive(double left,double right) {
     }
     
     public void swap() {
-        if (tank) {
-            tank = true;
-        }
-        if(!tank) {
-            tank = false;
-        }
+        isTank = !isTank;
     }
 
     public boolean isTank() {
-        return tank;
+        return isTank;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 033c72d..c210f53 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-
+import edu.wpi.first.wpilibj.XboxController.Button;
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -12,4 +12,7 @@
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {}
+public final class Constants {
+    public static final int SWITCH_BUTTON = Button.kX.value;
+    // TODO: add button x as a constant and name it its function
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2ff63e7..d09e115 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,12 +8,14 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.SubSystems.Drivetrain;
+import frc.robot.Constants;
 
 import java.sql.Driver;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+
 public class RobotContainer {
   public XboxController controller = new XboxController(0);
   public final GenericHID driverController = new GenericHID(0);
@@ -24,7 +26,7 @@ public RobotContainer() {
   }
 
   private void configureBindings() {
-      new JoystickButton(driverController, Button.kX.value).onTrue(new InstantCommand(()->{drivetrain.swap();}));
+      new JoystickButton(driverController, Constants.SWITCH_BUTTON).onTrue(new InstantCommand(()->{drivetrain.swap();}));
   }
 
   public Command getAutonomousCommand() {

From 9730c7df67434c7316256b9bf669d1ca8f02709c Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Sun, 29 Oct 2023 21:39:58 +0000
Subject: [PATCH 08/16] making the flywheel

---
 src/main/java/frc/SubSystems/Flywheel.java | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)
 create mode 100644 src/main/java/frc/SubSystems/Flywheel.java

diff --git a/src/main/java/frc/SubSystems/Flywheel.java b/src/main/java/frc/SubSystems/Flywheel.java
new file mode 100644
index 0000000..8dda7c7
--- /dev/null
+++ b/src/main/java/frc/SubSystems/Flywheel.java
@@ -0,0 +1,17 @@
+package frc.SubSystems;
+
+import org.carlmontrobotics.lib199.MotorConfig;
+import org.carlmontrobotics.lib199.MotorControllerFactory;
+
+import com.revrobotics.CANSparkMax;
+
+public class Flywheel {
+    CANSparkMax flyWheel1 = MotorControllerFactory.createSparkMax(3,MotorConfig.NEO);
+    CANSparkMax flyWheel2 = MotorControllerFactory.createSparkMax(3, MotorConfig.NEO);
+    public void intake() {
+        
+    }
+    public void out_take() {
+
+    }
+}

From 2b0d2e0113b495e9008817429441e69b4c02339f Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Sun, 29 Oct 2023 22:01:58 +0000
Subject: [PATCH 09/16] Outtake done

---
 src/main/java/frc/SubSystems/Flywheel.java  | 5 +++--
 src/main/java/frc/robot/Constants.java      | 6 +++++-
 src/main/java/frc/robot/RobotContainer.java | 6 ++++--
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/SubSystems/Flywheel.java b/src/main/java/frc/SubSystems/Flywheel.java
index 8dda7c7..8fbfa6e 100644
--- a/src/main/java/frc/SubSystems/Flywheel.java
+++ b/src/main/java/frc/SubSystems/Flywheel.java
@@ -11,7 +11,8 @@ public class Flywheel {
     public void intake() {
         
     }
-    public void out_take() {
-
+    public void out_take(int speed) {
+        flyWheel1.set(speed);
+        flyWheel2.set(-speed);
     }
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c210f53..7e28ea9 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -3,7 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -13,6 +15,8 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+    static XboxController controller = new XboxController(0);
     public static final int SWITCH_BUTTON = Button.kX.value;
-    // TODO: add button x as a constant and name it its function
+    public static final int OUT_TAKE =  Button.kRightBumper.value;
+
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d09e115..b0bb55f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.SubSystems.Drivetrain;
+import frc.SubSystems.Flywheel;
 import frc.robot.Constants;
 
 import java.sql.Driver;
@@ -17,16 +18,17 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
 public class RobotContainer {
-  public XboxController controller = new XboxController(0);
   public final GenericHID driverController = new GenericHID(0);
   public Drivetrain drivetrain = new Drivetrain();
-
+  public Flywheel flywheel = new Flywheel();
   public RobotContainer() {
     configureBindings();
   }
 
   private void configureBindings() {
       new JoystickButton(driverController, Constants.SWITCH_BUTTON).onTrue(new InstantCommand(()->{drivetrain.swap();}));
+      new JoystickButton(driverController, Constants.OUT_TAKE).onTrue(new InstantCommand(()->{flywheel.out_take(1);}));
+      new JoystickButton(driverController, Constants.OUT_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(-1);}));
   }
 
   public Command getAutonomousCommand() {

From fd8527afa4b086ee7c8c70e3b0db3512869fb175 Mon Sep 17 00:00:00 2001
From: Char-AZ <139721106+Char-Az@users.noreply.github.com>
Date: Sun, 29 Oct 2023 22:13:33 +0000
Subject: [PATCH 10/16] roogli

---
 src/main/java/frc/SubSystems/Flywheel.java  | 7 ++++---
 src/main/java/frc/robot/Constants.java      | 2 +-
 src/main/java/frc/robot/RobotContainer.java | 6 ++++--
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/SubSystems/Flywheel.java b/src/main/java/frc/SubSystems/Flywheel.java
index 8fbfa6e..8bc8f40 100644
--- a/src/main/java/frc/SubSystems/Flywheel.java
+++ b/src/main/java/frc/SubSystems/Flywheel.java
@@ -8,10 +8,11 @@
 public class Flywheel {
     CANSparkMax flyWheel1 = MotorControllerFactory.createSparkMax(3,MotorConfig.NEO);
     CANSparkMax flyWheel2 = MotorControllerFactory.createSparkMax(3, MotorConfig.NEO);
-    public void intake() {
-        
+    public void intake(double speed) {
+        flyWheel1.set(-speed);
+        flyWheel2.set(speed);
     }
-    public void out_take(int speed) {
+    public void out_take(double speed) {
         flyWheel1.set(speed);
         flyWheel2.set(-speed);
     }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 7e28ea9..9cc2243 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -18,5 +18,5 @@ public final class Constants {
     static XboxController controller = new XboxController(0);
     public static final int SWITCH_BUTTON = Button.kX.value;
     public static final int OUT_TAKE =  Button.kRightBumper.value;
-
+    public static final int INTAKE =  Button.kLeftBumper.value;
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b0bb55f..7d658b5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -28,8 +28,10 @@ public RobotContainer() {
   private void configureBindings() {
       new JoystickButton(driverController, Constants.SWITCH_BUTTON).onTrue(new InstantCommand(()->{drivetrain.swap();}));
       new JoystickButton(driverController, Constants.OUT_TAKE).onTrue(new InstantCommand(()->{flywheel.out_take(1);}));
-      new JoystickButton(driverController, Constants.OUT_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(-1);}));
-  }
+      new JoystickButton(driverController, Constants.OUT_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
+      new JoystickButton(driverController, Constants.INTAKE).onTrue(new InstantCommand(()->{flywheel.intake(1);}));
+      new JoystickButton(driverController, Constants.INTAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
+    }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

From 4f0eeb177cbde34aeb007f3ab05c83bb215722f4 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Sun, 29 Oct 2023 23:18:54 +0000
Subject: [PATCH 11/16] Organized

---
 src/main/java/frc/SubSystems/Drivetrain.java  | 25 -----------
 src/main/java/frc/robot/Constants.java        |  3 +-
 src/main/java/frc/robot/Robot.java            | 31 ++-----------
 src/main/java/frc/robot/RobotContainer.java   | 23 +++++-----
 .../java/frc/robot/commands/Autonomous.java   | 44 +++++++++++++++++++
 .../java/frc/robot/subsystems/Drivetrain.java | 42 ++++++++++++++++++
 .../subsystems}/Flywheel.java                 |  6 ++-
 7 files changed, 107 insertions(+), 67 deletions(-)
 delete mode 100644 src/main/java/frc/SubSystems/Drivetrain.java
 create mode 100644 src/main/java/frc/robot/commands/Autonomous.java
 create mode 100644 src/main/java/frc/robot/subsystems/Drivetrain.java
 rename src/main/java/frc/{SubSystems => robot/subsystems}/Flywheel.java (80%)

diff --git a/src/main/java/frc/SubSystems/Drivetrain.java b/src/main/java/frc/SubSystems/Drivetrain.java
deleted file mode 100644
index 50e1e26..0000000
--- a/src/main/java/frc/SubSystems/Drivetrain.java
+++ /dev/null
@@ -1,25 +0,0 @@
-package frc.SubSystems;
-import org.carlmontrobotics.lib199.MotorControllerFactory;
-import org.carlmontrobotics.lib199.MotorConfig;
-import com.revrobotics.CANSparkMax;
-
-import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
-
-public class Drivetrain {
-    private boolean isTank = false;
-    CANSparkMax rightMotor = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
-    CANSparkMax leftMotor = MotorControllerFactory.createSparkMax(2,MotorConfig.NEO);
-   
-    public void drive(double left,double right) {
-        rightMotor.set(right);
-        leftMotor.set(left);
-    }
-    
-    public void swap() {
-        isTank = !isTank;
-    }
-
-    public boolean isTank() {
-        return isTank;
-    }
-}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 9cc2243..ee3519c 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -16,7 +16,8 @@
  */
 public final class Constants {
     static XboxController controller = new XboxController(0);
+    
     public static final int SWITCH_BUTTON = Button.kX.value;
     public static final int OUT_TAKE =  Button.kRightBumper.value;
-    public static final int INTAKE =  Button.kLeftBumper.value;
+    public static final int IN_TAKE =  Button.kLeftBumper.value;
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 2feb49c..2f42e56 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -5,21 +5,12 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc.SubSystems.Drivetrain;
-import edu.wpi.first.wpilibj.XboxController;
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
-//___________________________________________________________________
-//Kenneth's Valuble Variables
-  private Drivetrain drivetrain = new Drivetrain();
-  private XboxController controller = new XboxController(0);
-  Timer timer = new Timer();
-  
-//___________________________________________________________________
   private RobotContainer m_robotContainer;
+
   @Override
   public void robotInit() {
     m_robotContainer = new RobotContainer();
@@ -43,8 +34,7 @@ public void disabledExit() {}
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-    timer.start();
-    drivetrain.drive(0.5,0.5);
+    
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
@@ -53,9 +43,7 @@ public void autonomousInit() {
 
   @Override
   public void autonomousPeriodic() {
-    if (timer.get() > 10) {
-      drivetrain.drive(0, 0);
-    } 
+
   }
 
   @Override
@@ -70,18 +58,7 @@ public void teleopInit() {
   
   @Override
   public void teleopPeriodic() {
-    double speed = -controller.getLeftY();
-     double turn = controller.getLeftX();
-    if (drivetrain.isTank()) {
-      double left = speed - turn;
-      double right = speed + turn;
-      drivetrain.drive(left, right);
-    }
-   
-    if (!drivetrain.isTank()) {
-      double rightYAxis = -controller.getRightY();
-      drivetrain.drive(speed,rightYAxis);
-    }
+    
   }
 
   @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 7d658b5..0e8d93c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -5,22 +5,20 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc.SubSystems.Drivetrain;
-import frc.SubSystems.Flywheel;
-import frc.robot.Constants;
 
-import java.sql.Driver;
+import frc.robot.commands.Autonomous;
+import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.Flywheel;
+
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.XboxController.Button;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
 public class RobotContainer {
-  public final GenericHID driverController = new GenericHID(0);
-  public Drivetrain drivetrain = new Drivetrain();
+  public final XboxController driverController = new XboxController(0);
   public Flywheel flywheel = new Flywheel();
+  public XboxController controller = new XboxController(0);
+  private Drivetrain drivetrain = new Drivetrain(controller);
   public RobotContainer() {
     configureBindings();
   }
@@ -29,11 +27,12 @@ private void configureBindings() {
       new JoystickButton(driverController, Constants.SWITCH_BUTTON).onTrue(new InstantCommand(()->{drivetrain.swap();}));
       new JoystickButton(driverController, Constants.OUT_TAKE).onTrue(new InstantCommand(()->{flywheel.out_take(1);}));
       new JoystickButton(driverController, Constants.OUT_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
-      new JoystickButton(driverController, Constants.INTAKE).onTrue(new InstantCommand(()->{flywheel.intake(1);}));
-      new JoystickButton(driverController, Constants.INTAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
+      new JoystickButton(driverController, Constants.IN_TAKE).onTrue(new InstantCommand(()->{flywheel.intake(1);}));
+      new JoystickButton(driverController, Constants.IN_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
     }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    return new Autonomous(drivetrain);
+    //return Commands.print("No autonomous command configured");
   }
 }
diff --git a/src/main/java/frc/robot/commands/Autonomous.java b/src/main/java/frc/robot/commands/Autonomous.java
new file mode 100644
index 0000000..7e61af4
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Autonomous.java
@@ -0,0 +1,44 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Drivetrain;
+public class Autonomous extends CommandBase {
+  /** Creates a new Autonomous. */
+  private Drivetrain drivetrain;
+  Timer timer = new Timer();
+  public Autonomous(Drivetrain dtrain) {
+    addRequirements(drivetrain = dtrain);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    timer.start();
+    drivetrain.drive(0.5,0.5);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drivetrain.drive(0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (timer.get() > 5) {
+      return true;
+    }
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
new file mode 100644
index 0000000..919f405
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -0,0 +1,42 @@
+package frc.robot.subsystems;
+import org.carlmontrobotics.lib199.MotorControllerFactory;
+import org.carlmontrobotics.lib199.MotorConfig;
+import com.revrobotics.CANSparkMax;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+public class Drivetrain extends SubsystemBase {
+    public boolean isTank = false;
+    private XboxController controller;
+    CANSparkMax rightMotor = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
+    CANSparkMax leftMotor = MotorControllerFactory.createSparkMax(2,MotorConfig.NEO);
+   
+    public Drivetrain(XboxController ctrlr){
+        controller = ctrlr;
+    }
+
+    public void drive(double left,double right) {
+        rightMotor.set(right);
+        leftMotor.set(left);
+    }
+    
+    public void swap() {
+        isTank = !isTank;
+    }
+    
+    @Override
+    public void periodic(){
+      double speed = -controller.getLeftY();
+      if (isTank) {
+        double turn = controller.getLeftX();
+        double left = speed - turn;
+        double right = speed + turn;
+        drive(left, right);
+      } else {
+        double rightYAxis = -controller.getRightY();
+        drive(speed,rightYAxis);
+      }
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/SubSystems/Flywheel.java b/src/main/java/frc/robot/subsystems/Flywheel.java
similarity index 80%
rename from src/main/java/frc/SubSystems/Flywheel.java
rename to src/main/java/frc/robot/subsystems/Flywheel.java
index 8bc8f40..e7300e1 100644
--- a/src/main/java/frc/SubSystems/Flywheel.java
+++ b/src/main/java/frc/robot/subsystems/Flywheel.java
@@ -1,11 +1,13 @@
-package frc.SubSystems;
+package frc.robot.subsystems;
 
 import org.carlmontrobotics.lib199.MotorConfig;
 import org.carlmontrobotics.lib199.MotorControllerFactory;
 
 import com.revrobotics.CANSparkMax;
 
-public class Flywheel {
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Flywheel extends SubsystemBase{
     CANSparkMax flyWheel1 = MotorControllerFactory.createSparkMax(3,MotorConfig.NEO);
     CANSparkMax flyWheel2 = MotorControllerFactory.createSparkMax(3, MotorConfig.NEO);
     public void intake(double speed) {

From 7da411d974450cfb6d499c9211d4084f2b3364ed Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Mon, 30 Oct 2023 01:43:55 +0000
Subject: [PATCH 12/16] newest version so far >:C

---
 src/main/java/frc/robot/Constants.java           |  3 ---
 src/main/java/frc/robot/RobotContainer.java      | 13 ++++++-------
 src/main/java/frc/robot/commands/Autonomous.java |  3 +++
 src/main/java/frc/robot/subsystems/Flywheel.java |  2 +-
 4 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index ee3519c..fcd825b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -3,7 +3,6 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 
 /**
@@ -15,8 +14,6 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-    static XboxController controller = new XboxController(0);
-    
     public static final int SWITCH_BUTTON = Button.kX.value;
     public static final int OUT_TAKE =  Button.kRightBumper.value;
     public static final int IN_TAKE =  Button.kLeftBumper.value;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0e8d93c..b4d1a05 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -10,7 +10,6 @@
 import frc.robot.commands.Autonomous;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Flywheel;
-
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
@@ -24,12 +23,12 @@ public RobotContainer() {
   }
 
   private void configureBindings() {
-      new JoystickButton(driverController, Constants.SWITCH_BUTTON).onTrue(new InstantCommand(()->{drivetrain.swap();}));
-      new JoystickButton(driverController, Constants.OUT_TAKE).onTrue(new InstantCommand(()->{flywheel.out_take(1);}));
-      new JoystickButton(driverController, Constants.OUT_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
-      new JoystickButton(driverController, Constants.IN_TAKE).onTrue(new InstantCommand(()->{flywheel.intake(1);}));
-      new JoystickButton(driverController, Constants.IN_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
-    }
+      new JoystickButton(controller, Constants.SWITCH_BUTTON).onTrue(new InstantCommand(()->{drivetrain.swap();}));
+      new JoystickButton(controller, Constants.OUT_TAKE).onTrue(new InstantCommand(()->{flywheel.out_take(1);}));
+      new JoystickButton(controller, Constants.OUT_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
+      new JoystickButton(controller, Constants.IN_TAKE).onTrue(new InstantCommand(()->{flywheel.intake(1);}));
+      new JoystickButton(controller, Constants.IN_TAKE).onFalse(new InstantCommand(() -> {flywheel.out_take(0);}));
+  }
 
   public Command getAutonomousCommand() {
     return new Autonomous(drivetrain);
diff --git a/src/main/java/frc/robot/commands/Autonomous.java b/src/main/java/frc/robot/commands/Autonomous.java
index 7e61af4..2a6e9c4 100644
--- a/src/main/java/frc/robot/commands/Autonomous.java
+++ b/src/main/java/frc/robot/commands/Autonomous.java
@@ -19,6 +19,7 @@ public Autonomous(Drivetrain dtrain) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    timer.reset();
     timer.start();
     drivetrain.drive(0.5,0.5);
   }
@@ -30,6 +31,8 @@ public void execute() {}
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+    timer.stop();
+    timer.restart();
     drivetrain.drive(0, 0);
   }
 
diff --git a/src/main/java/frc/robot/subsystems/Flywheel.java b/src/main/java/frc/robot/subsystems/Flywheel.java
index e7300e1..2369f3a 100644
--- a/src/main/java/frc/robot/subsystems/Flywheel.java
+++ b/src/main/java/frc/robot/subsystems/Flywheel.java
@@ -9,7 +9,7 @@
 
 public class Flywheel extends SubsystemBase{
     CANSparkMax flyWheel1 = MotorControllerFactory.createSparkMax(3,MotorConfig.NEO);
-    CANSparkMax flyWheel2 = MotorControllerFactory.createSparkMax(3, MotorConfig.NEO);
+    CANSparkMax flyWheel2 = MotorControllerFactory.createSparkMax(4, MotorConfig.NEO);
     public void intake(double speed) {
         flyWheel1.set(-speed);
         flyWheel2.set(speed);

From 993cf55e2d67b987e87fb90f3304e7db521274da Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Wed, 1 Nov 2023 23:48:19 +0000
Subject: [PATCH 13/16] issue solved???

---
 src/main/java/frc/robot/RobotContainer.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b4d1a05..2544d89 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -14,7 +14,6 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
 public class RobotContainer {
-  public final XboxController driverController = new XboxController(0);
   public Flywheel flywheel = new Flywheel();
   public XboxController controller = new XboxController(0);
   private Drivetrain drivetrain = new Drivetrain(controller);

From 027576353de69e6f3a11aa214a32bc8a01cbf650 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Thu, 2 Nov 2023 00:46:20 +0000
Subject: [PATCH 14/16] test the code aaron :)

---
 .../java/frc/robot/commands/Autonomous.java   |  7 +++---
 .../java/frc/robot/subsystems/Drivetrain.java | 24 +++++++++++--------
 2 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Autonomous.java b/src/main/java/frc/robot/commands/Autonomous.java
index 2a6e9c4..6794b25 100644
--- a/src/main/java/frc/robot/commands/Autonomous.java
+++ b/src/main/java/frc/robot/commands/Autonomous.java
@@ -10,6 +10,7 @@
 public class Autonomous extends CommandBase {
   /** Creates a new Autonomous. */
   private Drivetrain drivetrain;
+  public static boolean auto;
   Timer timer = new Timer();
   public Autonomous(Drivetrain dtrain) {
     addRequirements(drivetrain = dtrain);
@@ -19,9 +20,9 @@ public Autonomous(Drivetrain dtrain) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    timer.reset();
     timer.start();
     drivetrain.drive(0.5,0.5);
+    auto = true;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -32,10 +33,10 @@ public void execute() {}
   @Override
   public void end(boolean interrupted) {
     timer.stop();
-    timer.restart();
+    auto = false;
     drivetrain.drive(0, 0);
   }
-
+  
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 919f405..28eb9e9 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -2,12 +2,13 @@
 import org.carlmontrobotics.lib199.MotorControllerFactory;
 import org.carlmontrobotics.lib199.MotorConfig;
 import com.revrobotics.CANSparkMax;
-
+import frc.robot.commands.Autonomous;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
 public class Drivetrain extends SubsystemBase {
+    boolean auto = Autonomous.auto;
     public boolean isTank = false;
     private XboxController controller;
     CANSparkMax rightMotor = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
@@ -28,15 +29,18 @@ public void swap() {
     
     @Override
     public void periodic(){
-      double speed = -controller.getLeftY();
-      if (isTank) {
-        double turn = controller.getLeftX();
-        double left = speed - turn;
-        double right = speed + turn;
-        drive(left, right);
-      } else {
-        double rightYAxis = -controller.getRightY();
-        drive(speed,rightYAxis);
+      if (!auto) {
+        double speed = -controller.getLeftY();
+        if (isTank) {
+          double turn = controller.getLeftX();
+          double left = speed - turn;
+          double right = speed + turn;
+          drive(left, right);
+        } else {
+          double rightYAxis = -controller.getRightY();
+          drive(speed,rightYAxis);
+        }
       }
+      
     }
 }
\ No newline at end of file

From 79c2884d01f9f2bd2345b146771e8eeea8cb56a3 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Thu, 2 Nov 2023 01:24:28 +0000
Subject: [PATCH 15/16] newest version

---
 src/main/java/frc/robot/commands/Autonomous.java   | 3 ++-
 src/main/java/frc/robot/subsystems/Drivetrain.java | 1 -
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Autonomous.java b/src/main/java/frc/robot/commands/Autonomous.java
index 6794b25..790d6db 100644
--- a/src/main/java/frc/robot/commands/Autonomous.java
+++ b/src/main/java/frc/robot/commands/Autonomous.java
@@ -13,7 +13,8 @@ public class Autonomous extends CommandBase {
   public static boolean auto;
   Timer timer = new Timer();
   public Autonomous(Drivetrain dtrain) {
-    addRequirements(drivetrain = dtrain);
+    this.drivetrain = dtrain;
+    addRequirements(drivetrain);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 28eb9e9..c36ae70 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -41,6 +41,5 @@ public void periodic(){
           drive(speed,rightYAxis);
         }
       }
-      
     }
 }
\ No newline at end of file

From c3f7e1983fb772636c50ae4572b7b60228299105 Mon Sep 17 00:00:00 2001
From: Kenneth-Choothakan
 <134165881+Kenneth-Choothakan@users.noreply.github.com>
Date: Thu, 2 Nov 2023 02:22:09 +0000
Subject: [PATCH 16/16] bruh idk anymore

---
 src/main/java/frc/robot/RobotContainer.java        | 2 --
 src/main/java/frc/robot/commands/Autonomous.java   | 8 +++-----
 src/main/java/frc/robot/subsystems/Drivetrain.java | 5 ++---
 3 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2544d89..8010a4d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,7 +6,6 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
 import frc.robot.commands.Autonomous;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Flywheel;
@@ -31,6 +30,5 @@ private void configureBindings() {
 
   public Command getAutonomousCommand() {
     return new Autonomous(drivetrain);
-    //return Commands.print("No autonomous command configured");
   }
 }
diff --git a/src/main/java/frc/robot/commands/Autonomous.java b/src/main/java/frc/robot/commands/Autonomous.java
index 790d6db..d776f26 100644
--- a/src/main/java/frc/robot/commands/Autonomous.java
+++ b/src/main/java/frc/robot/commands/Autonomous.java
@@ -3,15 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Drivetrain;
 public class Autonomous extends CommandBase {
   /** Creates a new Autonomous. */
   private Drivetrain drivetrain;
-  public static boolean auto;
-  Timer timer = new Timer();
+  private final Timer timer = new Timer();
   public Autonomous(Drivetrain dtrain) {
     this.drivetrain = dtrain;
     addRequirements(drivetrain);
@@ -21,9 +19,9 @@ public Autonomous(Drivetrain dtrain) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    drivetrain.isAuto = true;
     timer.start();
     drivetrain.drive(0.5,0.5);
-    auto = true;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -34,7 +32,7 @@ public void execute() {}
   @Override
   public void end(boolean interrupted) {
     timer.stop();
-    auto = false;
+    drivetrain.isAuto = false;
     drivetrain.drive(0, 0);
   }
   
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index c36ae70..9a27bc3 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -2,13 +2,12 @@
 import org.carlmontrobotics.lib199.MotorControllerFactory;
 import org.carlmontrobotics.lib199.MotorConfig;
 import com.revrobotics.CANSparkMax;
-import frc.robot.commands.Autonomous;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
 public class Drivetrain extends SubsystemBase {
-    boolean auto = Autonomous.auto;
+    public boolean isAuto;
     public boolean isTank = false;
     private XboxController controller;
     CANSparkMax rightMotor = MotorControllerFactory.createSparkMax(1,MotorConfig.NEO);
@@ -29,7 +28,7 @@ public void swap() {
     
     @Override
     public void periodic(){
-      if (!auto) {
+      if (!isAuto) {
         double speed = -controller.getLeftY();
         if (isTank) {
           double turn = controller.getLeftX();