final

Author: sophiep29

src/main/java/frc/robot/commands/DrivetrainCommand.java

@@ -79,6 +79,7 @@ public void execute() {
                     .withRotationalRate(
                         -rightX.getAsDouble()
                             * MaxAngularRate)); // Drive counterclockwise with negative X
+//        System.out.println("Drivetrain: Teleop");
         break;
 
       // (Needs check) Mode for when shots are from a still position

src/main/java/frc/robot/commands/FlywheelCommand.java

@@ -35,20 +35,20 @@ public void execute() {
       // Spins flywheels at proper speed for shooting from hub
       case HUB_SHOT:
         subsystem.shoot(FlywheelConfig.FLYWHEEL_HUB_SHOT_SPEED);
-        // System.out.println("Flywheel: Hub Shot");
+//         System.out.println("Flywheel: Hub Shot");
         break;
 
       // Spins flywheels at proper speed for shooting from tower
       case TOWER_SHOT:
         subsystem.shoot(FlywheelConfig.FLYWHEEL_TOWER_SHOT_SPEED);
-        // System.out.println("Flywheel: Tower Shot");
+//         System.out.println("Flywheel: Tower Shot");
         break;
 
       // Spins flywheels at estimated speed given distance from hub
       case CALCULATED_SHOT:
         subsystem.shoot(
             ShotCalculator.calculateFlywheelShot(drivetrain.getState().Pose.getTranslation()));
-        // System.out.println("Flywheel: Calculated Shot");
+//         System.out.println("Flywheel: Calculated Shot");
         break;
 
       // Determines if robot should be prepared to shoot (if during active period or 5 seconds
@@ -59,7 +59,7 @@ public void execute() {
         subsystem.shoot(
             ShotCalculator.calculateFlywheelDefaultShot(
                 drivetrain.getState().Pose.getTranslation()));
-        // System.out.println("Flywheel: Default Shot");
+//         System.out.println("Flywheel: Default Shot");
         break;
 
       // Runs flywheels in outtake direction in case of jam

src/main/java/frc/robot/commands/HopperCommand.java

@@ -31,11 +31,11 @@ public void initialize() {
       // (Needs check) If hopper already extended, retract, and if hopper retracted, extend
       case EXTEND_RETRACT:
         if (isExtended) {
-          System.out.println("Hopper: Retracting");
+//          System.out.println("Hopper: Retracting");
           subsystem.move(HopperConfig.HOPPER_RETRACT_ROTATION);
           isExtended = false;
         } else {
-          System.out.println("Hopper: Extending");
+//          System.out.println("Hopper: Extending");
           subsystem.move(HopperConfig.HOPPER_EXTEND_ROTATION);
           isExtended = true;
         }
@@ -44,12 +44,12 @@ public void initialize() {
       // (Needs check) Retracts then extends hopper back to original position to push balls into
       // kicker for shooting
       case SHOOT_RETRACT:
-        System.out.println("Hopper: Shoot Retracting");
+//        System.out.println("Hopper: Shoot Retracting");
         subsystem.slowMove(HopperConfig.HOPPER_RETRACT_ROTATION);
         break;
 
       case SHOOT_EXTEND:
-        System.out.println("Hopper: Shoot Extending");
+//        System.out.println("Hopper: Shoot Extending");
         subsystem.move(HopperConfig.HOPPER_EXTEND_ROTATION);
         break;
 

src/main/java/frc/robot/commands/IntakeCommand.java

@@ -29,6 +29,7 @@ public void initialize() {
       // Runs intakeDutyCycleOut
       case INTAKE:
         subsystem.intake(IntakeConfig.INTAKE_INTAKE_SPEED);
+        System.out.println("Intake: Intaking");
         break;
 
       // Runs intakeDutyCycleOut in outtaking direction

src/main/java/frc/robot/commands/KickerCommand.java

@@ -28,6 +28,7 @@ public void execute() {
       // Intakes balls to shooter
       case INTAKE:
         subsystem.intake(KickerConfig.KICKER_INTAKE_SPEED);
+//        System.out.println("Kicker: Intaking");
         break;
 
       // Pushes balls out of shooter area to hopper area