From 912f4f0db10b62775e89ed9e2122335a8838ce3e Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Tue, 30 Jan 2024 17:02:00 -0600
Subject: [PATCH 01/29] Renamed RunBelts to RunMailboxBelts

to prevent confusion
---
 src/main/java/frc/robot/RobotContainer.java   |  4 +--
 .../frc/robot/commands/DeployMailbox.java     |  2 +-
 .../java/frc/robot/commands/OutputNote.java   | 32 +++++++++++++++++++
 .../{RunBelts.java => RunMailboxBelts.java}   |  4 +--
 4 files changed, 37 insertions(+), 5 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/OutputNote.java
 rename src/main/java/frc/robot/commands/{RunBelts.java => RunMailboxBelts.java} (95%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2a8d483b..a2e074e8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,7 +19,7 @@
 import frc.robot.commands.DriveFieldOriented;
 import frc.robot.commands.DriveRobotOriented;
 import frc.robot.commands.EnterXMode;
-import frc.robot.commands.RunBelts;
+import frc.robot.commands.RunMailboxBelts;
 import frc.robot.commands.RunIntake;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
@@ -61,7 +61,7 @@ public class RobotContainer {
   private DriveFieldOriented driveFieldOriented = new DriveFieldOriented();
   private EnterXMode enterXMode = new EnterXMode();
   private DeployPneumatics deployPneumatics = new DeployPneumatics();
-  private RunBelts runBelts = new RunBelts();
+  private RunMailboxBelts runBelts = new RunMailboxBelts();
   private RunIntake runIntake = new RunIntake();
 
   /*
diff --git a/src/main/java/frc/robot/commands/DeployMailbox.java b/src/main/java/frc/robot/commands/DeployMailbox.java
index b54b9fcb..e8a1e84b 100644
--- a/src/main/java/frc/robot/commands/DeployMailbox.java
+++ b/src/main/java/frc/robot/commands/DeployMailbox.java
@@ -19,6 +19,6 @@
 public class DeployMailbox extends ParallelCommandGroup {
   /** Creates a new DeployMailbox. */
   public DeployMailbox() {
-    addCommands(new DeployPneumatics(), new RunBelts());
+    addCommands(new DeployPneumatics(), new RunMailboxBelts());
   }
 }
diff --git a/src/main/java/frc/robot/commands/OutputNote.java b/src/main/java/frc/robot/commands/OutputNote.java
new file mode 100644
index 00000000..289394c3
--- /dev/null
+++ b/src/main/java/frc/robot/commands/OutputNote.java
@@ -0,0 +1,32 @@
+// 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.wpilibj2.command.Command;
+
+public class OutputNote extends Command {
+  /** Creates a new OutputNote. */
+  public OutputNote() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // 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) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/RunBelts.java b/src/main/java/frc/robot/commands/RunMailboxBelts.java
similarity index 95%
rename from src/main/java/frc/robot/commands/RunBelts.java
rename to src/main/java/frc/robot/commands/RunMailboxBelts.java
index f42494b4..71ee65be 100644
--- a/src/main/java/frc/robot/commands/RunBelts.java
+++ b/src/main/java/frc/robot/commands/RunMailboxBelts.java
@@ -16,11 +16,11 @@
 import frc.robot.subsystems.mailbox.MailboxBelts;
 
 /** Command that activates belts when started, and deactivates belts when ended. */
-public class RunBelts extends Command {
+public class RunMailboxBelts extends Command {
   private MailboxBelts mailboxBelts;
 
   /** Creates a new DeployBelts. */
-  public RunBelts() {
+  public RunMailboxBelts() {
     this.mailboxBelts = RobotContainer.mailboxBelts;
     addRequirements(mailboxBelts);
     // Use addRequirements() here to declare subsystem dependencies.

From 290924523b2548e51d7f397b7ddd3782afbe571e Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 17:38:50 -0600
Subject: [PATCH 02/29] Added mailbox subsystems

---
 src/main/java/frc/robot/commands/OutputNote.java | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/main/java/frc/robot/commands/OutputNote.java b/src/main/java/frc/robot/commands/OutputNote.java
index 289394c3..b94f8ca9 100644
--- a/src/main/java/frc/robot/commands/OutputNote.java
+++ b/src/main/java/frc/robot/commands/OutputNote.java
@@ -5,11 +5,24 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.mailbox.MailboxBelts;
+import frc.robot.subsystems.mailbox.MailboxPneumatics;
+
+
 
 public class OutputNote extends Command {
   /** Creates a new OutputNote. */
+
+  private MailboxBelts mailboxBelts;
+  private MailboxPneumatics mailboxPneumatics;
+
   public OutputNote() {
+
+    this.mailboxBelts = RobotContainer.mailboxBelts;
+    this.mailboxPneumatics = RobotContainer.mailboxPneumatics;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(mailboxBelts, mailboxPneumatics);
   }
 
   // Called when the command is initially scheduled.

From 283f732fb3b8c69c923c42e918618b0cd151acc0 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 17:55:57 -0600
Subject: [PATCH 03/29] Added constant for limit switch port

---
 src/main/java/frc/robot/Constants.java | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1ceaa0b6..6f1707d0 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -22,6 +22,13 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+
+  /** Constants for the Mailbox system */
+  public static class Mailbox {
+    // It was me, DIO!
+    /** DIO Port ID for the Mailbox limit switch. */
+    public static final int MAILBOX_LIMIT_SWITCH_DIO_PORT = 0;
+  }
   /** Constants for the Pneumatics system. */
   public static class MailboxPneumatics {
     /** The channel on the PCM for the forward direction on the left solenoid. */

From 21761da8d6110df1cbabea5cd803184933c3e660 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 17:56:40 -0600
Subject: [PATCH 04/29] Added Limitswitch to Mailbox

---
 .../java/frc/robot/subsystems/mailbox/Mailbox.java     | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index ee925a4d..dd8b2568 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -11,12 +11,20 @@
 
 package frc.robot.subsystems.mailbox;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 
 /** Subsystem for the mailbox that outputs game pieces from our robot. */
 public class Mailbox extends SubsystemBase {
+
+  private DigitalInput limitSwitch;
+
   /** Creates a new Mailbox. */
-  public Mailbox() {}
+  public Mailbox() {
+
+    this.limitSwitch = new DigitalInput(Constants.Mailbox.MAILBOX_LIMIT_SWITCH_DIO_PORT);
+  }
 
   @Override
   public void periodic() {

From a3a727d84f1254443ef385a3b7c84e71919a0d0d Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 17:57:59 -0600
Subject: [PATCH 05/29] Added getter method for mailbox limit switch

---
 src/main/java/frc/robot/subsystems/mailbox/Mailbox.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index dd8b2568..ac6e2809 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -26,6 +26,10 @@ public Mailbox() {
     this.limitSwitch = new DigitalInput(Constants.Mailbox.MAILBOX_LIMIT_SWITCH_DIO_PORT);
   }
 
+  public boolean getLimitSwitch() {
+    return limitSwitch.get();
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From a4e741c5fc36ccba1acada164b4e968f6fe679e1 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 18:00:54 -0600
Subject: [PATCH 06/29] Added mailbox to robotcontainer

---
 src/main/java/frc/robot/RobotContainer.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a2e074e8..1bbf37e6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,6 +23,7 @@
 import frc.robot.commands.RunIntake;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.mailbox.Mailbox;
 import frc.robot.subsystems.mailbox.MailboxBelts;
 import frc.robot.subsystems.mailbox.MailboxPneumatics;
 
@@ -48,6 +49,9 @@ public class RobotContainer {
   /** Singleton instance of {@link MailboxBelts} for the whole robot. */
   public static MailboxBelts mailboxBelts = new MailboxBelts();
 
+  /** Singleton instance of {@link Mailbox} for the whole robot. */
+  public static Mailbox mailbox = new Mailbox();
+
   /** Singleton instance of {@link Intake} for the whole robot. */
   public static Intake intake = new Intake();
 

From cbb5f1c68b345fbb68bfc4e228644d1848d77ef1 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 18:17:23 -0600
Subject: [PATCH 07/29] Added RetractPneumatics command

---
 .../frc/robot/commands/RetractPneumatics.java | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/RetractPneumatics.java

diff --git a/src/main/java/frc/robot/commands/RetractPneumatics.java b/src/main/java/frc/robot/commands/RetractPneumatics.java
new file mode 100644
index 00000000..a08b92fb
--- /dev/null
+++ b/src/main/java/frc/robot/commands/RetractPneumatics.java
@@ -0,0 +1,40 @@
+// 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.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.mailbox.MailboxPneumatics;
+
+public class RetractPneumatics extends Command {
+
+  private MailboxPneumatics mailboxPneumatics;
+
+  /** Creates a new RetractPneumatics. */
+  public RetractPneumatics() {
+    mailboxPneumatics = RobotContainer.mailboxPneumatics;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    mailboxPneumatics.retract();
+  }
+
+  // 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) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From dd957e85faa8809bf180c47d0f9d3850d4833758 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 18:17:42 -0600
Subject: [PATCH 08/29] Renamed RunMailboxBelts to RunBelts

Cause that's what we're calling it
---
 .../frc/robot/commands/{RunMailboxBelts.java => RunBelts.java}    | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename src/main/java/frc/robot/commands/{RunMailboxBelts.java => RunBelts.java} (100%)

diff --git a/src/main/java/frc/robot/commands/RunMailboxBelts.java b/src/main/java/frc/robot/commands/RunBelts.java
similarity index 100%
rename from src/main/java/frc/robot/commands/RunMailboxBelts.java
rename to src/main/java/frc/robot/commands/RunBelts.java

From 6d9b78d97db9f28b660b69ca1f865879100e7e58 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 18:26:51 -0600
Subject: [PATCH 09/29] general cleanup from last commits

---
 src/main/java/frc/robot/RobotContainer.java            | 4 ++--
 src/main/java/frc/robot/commands/DeployMailbox.java    | 2 +-
 src/main/java/frc/robot/commands/DeployPneumatics.java | 1 -
 src/main/java/frc/robot/commands/RunBelts.java         | 4 ++--
 4 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1bbf37e6..36798a59 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,7 +19,7 @@
 import frc.robot.commands.DriveFieldOriented;
 import frc.robot.commands.DriveRobotOriented;
 import frc.robot.commands.EnterXMode;
-import frc.robot.commands.RunMailboxBelts;
+import frc.robot.commands.RunBelts;
 import frc.robot.commands.RunIntake;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
@@ -65,7 +65,7 @@ public class RobotContainer {
   private DriveFieldOriented driveFieldOriented = new DriveFieldOriented();
   private EnterXMode enterXMode = new EnterXMode();
   private DeployPneumatics deployPneumatics = new DeployPneumatics();
-  private RunMailboxBelts runBelts = new RunMailboxBelts();
+  private RunBelts runBelts = new RunBelts();
   private RunIntake runIntake = new RunIntake();
 
   /*
diff --git a/src/main/java/frc/robot/commands/DeployMailbox.java b/src/main/java/frc/robot/commands/DeployMailbox.java
index e8a1e84b..b54b9fcb 100644
--- a/src/main/java/frc/robot/commands/DeployMailbox.java
+++ b/src/main/java/frc/robot/commands/DeployMailbox.java
@@ -19,6 +19,6 @@
 public class DeployMailbox extends ParallelCommandGroup {
   /** Creates a new DeployMailbox. */
   public DeployMailbox() {
-    addCommands(new DeployPneumatics(), new RunMailboxBelts());
+    addCommands(new DeployPneumatics(), new RunBelts());
   }
 }
diff --git a/src/main/java/frc/robot/commands/DeployPneumatics.java b/src/main/java/frc/robot/commands/DeployPneumatics.java
index 8c072a71..ae490ba6 100644
--- a/src/main/java/frc/robot/commands/DeployPneumatics.java
+++ b/src/main/java/frc/robot/commands/DeployPneumatics.java
@@ -38,7 +38,6 @@ public void execute() {}
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    mailboxPneumatics.retract();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/RunBelts.java b/src/main/java/frc/robot/commands/RunBelts.java
index 71ee65be..f42494b4 100644
--- a/src/main/java/frc/robot/commands/RunBelts.java
+++ b/src/main/java/frc/robot/commands/RunBelts.java
@@ -16,11 +16,11 @@
 import frc.robot.subsystems.mailbox.MailboxBelts;
 
 /** Command that activates belts when started, and deactivates belts when ended. */
-public class RunMailboxBelts extends Command {
+public class RunBelts extends Command {
   private MailboxBelts mailboxBelts;
 
   /** Creates a new DeployBelts. */
-  public RunMailboxBelts() {
+  public RunBelts() {
     this.mailboxBelts = RobotContainer.mailboxBelts;
     addRequirements(mailboxBelts);
     // Use addRequirements() here to declare subsystem dependencies.

From 0adfc0715867b8bb889278580e3b437f951be24c Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 18:36:57 -0600
Subject: [PATCH 10/29] created mailbox folder for orginization

---
 src/main/java/frc/robot/RobotContainer.java       |  4 ++--
 .../commands/{ => mailbox}/DeployMailbox.java     |  2 +-
 .../commands/{ => mailbox}/DeployPneumatics.java  |  2 +-
 .../robot/commands/{ => mailbox}/OutputNote.java  | 13 ++++++++++---
 .../robot/commands/mailbox/RetractMailbox.java    | 15 +++++++++++++++
 .../commands/{ => mailbox}/RetractPneumatics.java |  2 +-
 .../robot/commands/{ => mailbox}/RunBelts.java    |  2 +-
 7 files changed, 31 insertions(+), 9 deletions(-)
 rename src/main/java/frc/robot/commands/{ => mailbox}/DeployMailbox.java (96%)
 rename src/main/java/frc/robot/commands/{ => mailbox}/DeployPneumatics.java (97%)
 rename src/main/java/frc/robot/commands/{ => mailbox}/OutputNote.java (83%)
 create mode 100644 src/main/java/frc/robot/commands/mailbox/RetractMailbox.java
 rename src/main/java/frc/robot/commands/{ => mailbox}/RetractPneumatics.java (96%)
 rename src/main/java/frc/robot/commands/{ => mailbox}/RunBelts.java (97%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 36798a59..9c23619f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,12 +15,12 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.commands.DeployPneumatics;
 import frc.robot.commands.DriveFieldOriented;
 import frc.robot.commands.DriveRobotOriented;
 import frc.robot.commands.EnterXMode;
-import frc.robot.commands.RunBelts;
 import frc.robot.commands.RunIntake;
+import frc.robot.commands.mailbox.DeployPneumatics;
+import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.mailbox.Mailbox;
diff --git a/src/main/java/frc/robot/commands/DeployMailbox.java b/src/main/java/frc/robot/commands/mailbox/DeployMailbox.java
similarity index 96%
rename from src/main/java/frc/robot/commands/DeployMailbox.java
rename to src/main/java/frc/robot/commands/mailbox/DeployMailbox.java
index b54b9fcb..8fb4d8d5 100644
--- a/src/main/java/frc/robot/commands/DeployMailbox.java
+++ b/src/main/java/frc/robot/commands/mailbox/DeployMailbox.java
@@ -9,7 +9,7 @@
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
 
-package frc.robot.commands;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 
diff --git a/src/main/java/frc/robot/commands/DeployPneumatics.java b/src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java
similarity index 97%
rename from src/main/java/frc/robot/commands/DeployPneumatics.java
rename to src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java
index ae490ba6..69d2ceeb 100644
--- a/src/main/java/frc/robot/commands/DeployPneumatics.java
+++ b/src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java
@@ -9,7 +9,7 @@
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
 
-package frc.robot.commands;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;
diff --git a/src/main/java/frc/robot/commands/OutputNote.java b/src/main/java/frc/robot/commands/mailbox/OutputNote.java
similarity index 83%
rename from src/main/java/frc/robot/commands/OutputNote.java
rename to src/main/java/frc/robot/commands/mailbox/OutputNote.java
index b94f8ca9..811b7884 100644
--- a/src/main/java/frc/robot/commands/OutputNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/OutputNote.java
@@ -2,10 +2,11 @@
 // 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;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;
+import frc.robot.subsystems.mailbox.Mailbox;
 import frc.robot.subsystems.mailbox.MailboxBelts;
 import frc.robot.subsystems.mailbox.MailboxPneumatics;
 
@@ -16,12 +17,14 @@ public class OutputNote extends Command {
 
   private MailboxBelts mailboxBelts;
   private MailboxPneumatics mailboxPneumatics;
+  private Mailbox mailbox;
 
   public OutputNote() {
 
     this.mailboxBelts = RobotContainer.mailboxBelts;
     this.mailboxPneumatics = RobotContainer.mailboxPneumatics;
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.mailbox = RobotContainer.mailbox;
+    
     addRequirements(mailboxBelts, mailboxPneumatics);
   }
 
@@ -31,7 +34,11 @@ public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if (mailbox.getLimitSwitch()) {
+      
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/mailbox/RetractMailbox.java b/src/main/java/frc/robot/commands/mailbox/RetractMailbox.java
new file mode 100644
index 00000000..8e66b188
--- /dev/null
+++ b/src/main/java/frc/robot/commands/mailbox/RetractMailbox.java
@@ -0,0 +1,15 @@
+// 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.mailbox;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+
+public class RetractMailbox extends ParallelCommandGroup {
+  /** Creates a new DeployMailbox. */
+  public RetractMailbox() {
+    addCommands(new DeployPneumatics(), new RunBelts());
+  }
+}
diff --git a/src/main/java/frc/robot/commands/RetractPneumatics.java b/src/main/java/frc/robot/commands/mailbox/RetractPneumatics.java
similarity index 96%
rename from src/main/java/frc/robot/commands/RetractPneumatics.java
rename to src/main/java/frc/robot/commands/mailbox/RetractPneumatics.java
index a08b92fb..61686690 100644
--- a/src/main/java/frc/robot/commands/RetractPneumatics.java
+++ b/src/main/java/frc/robot/commands/mailbox/RetractPneumatics.java
@@ -2,7 +2,7 @@
 // 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;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;
diff --git a/src/main/java/frc/robot/commands/RunBelts.java b/src/main/java/frc/robot/commands/mailbox/RunBelts.java
similarity index 97%
rename from src/main/java/frc/robot/commands/RunBelts.java
rename to src/main/java/frc/robot/commands/mailbox/RunBelts.java
index f42494b4..68bef281 100644
--- a/src/main/java/frc/robot/commands/RunBelts.java
+++ b/src/main/java/frc/robot/commands/mailbox/RunBelts.java
@@ -9,7 +9,7 @@
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
 
-package frc.robot.commands;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;

From 588c50cbf330e1085906c062e7ac6222a62a6717 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 18:37:09 -0600
Subject: [PATCH 11/29] Created DeindexNotel.java

---
 .../robot/commands/mailbox/DeindexNote.java   | 38 +++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/mailbox/DeindexNote.java

diff --git a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
new file mode 100644
index 00000000..e622057a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
@@ -0,0 +1,38 @@
+// 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.mailbox;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.mailbox.Mailbox;
+
+public class DeindexNote extends Command {
+
+  private Intake intake;
+  private Mailbox mailbox;
+
+  /** Creates a new DeindexNote. */
+  public DeindexNote() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // 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) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From fed7601182dff64456a8878a2e3ddd3699072fb1 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:00:54 -0600
Subject: [PATCH 12/29] DeindexNote runs the intake properly

---
 .../robot/commands/mailbox/DeindexNote.java   | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
index e622057a..09391cd6 100644
--- a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
@@ -5,6 +5,7 @@
 package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.mailbox.Mailbox;
 
@@ -15,7 +16,9 @@ public class DeindexNote extends Command {
 
   /** Creates a new DeindexNote. */
   public DeindexNote() {
-    // Use addRequirements() here to declare subsystem dependencies.
+    this.intake = RobotContainer.intake;
+    this.mailbox = RobotContainer.mailbox;
+    addRequirements(intake, mailbox);
   }
 
   // Called when the command is initially scheduled.
@@ -24,11 +27,21 @@ public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if (mailbox.getLimitSwitch()) {
+      intake.runIntake();
+    }
+    /* This else isn't neccessary, just advised for safety. If it interferes with anything, feel free to remove it. */
+    else {
+      intake.stop();
+    }
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    intake.stop();
+  }
 
   // Returns true when the command should end.
   @Override

From 89229341a7dd5123d110d7790ecced9e25f8a3e8 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:03:26 -0600
Subject: [PATCH 13/29] removed redundant code

---
 src/main/java/frc/robot/commands/mailbox/OutputNote.java | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/commands/mailbox/OutputNote.java b/src/main/java/frc/robot/commands/mailbox/OutputNote.java
index 811b7884..3c9a18d9 100644
--- a/src/main/java/frc/robot/commands/mailbox/OutputNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/OutputNote.java
@@ -34,11 +34,7 @@ public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-    if (mailbox.getLimitSwitch()) {
-      
-    }
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override

From 06f4d26a686c14d010cd6ad39a75aa105d9de8bb Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:11:23 -0600
Subject: [PATCH 14/29] Added deindexNote object to robotContainer

---
 src/main/java/frc/robot/RobotContainer.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9c23619f..e0545237 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -19,6 +19,7 @@
 import frc.robot.commands.DriveRobotOriented;
 import frc.robot.commands.EnterXMode;
 import frc.robot.commands.RunIntake;
+import frc.robot.commands.mailbox.DeindexNote;
 import frc.robot.commands.mailbox.DeployPneumatics;
 import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
@@ -52,6 +53,9 @@ public class RobotContainer {
   /** Singleton instance of {@link Mailbox} for the whole robot. */
   public static Mailbox mailbox = new Mailbox();
 
+  /** Singleton instance of {@link DeindexNote} for the whole robot. */
+  public static DeindexNote deindexNote = new DeindexNote();
+
   /** Singleton instance of {@link Intake} for the whole robot. */
   public static Intake intake = new Intake();
 

From 02ade764807bb0ef331af8938aed86b153aea8c9 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:12:44 -0600
Subject: [PATCH 15/29] properly added deployMailbox and deindexNote to
 RobotContainer

---
 src/main/java/frc/robot/RobotContainer.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e0545237..64b37c1b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,6 +20,7 @@
 import frc.robot.commands.EnterXMode;
 import frc.robot.commands.RunIntake;
 import frc.robot.commands.mailbox.DeindexNote;
+import frc.robot.commands.mailbox.DeployMailbox;
 import frc.robot.commands.mailbox.DeployPneumatics;
 import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
@@ -53,9 +54,6 @@ public class RobotContainer {
   /** Singleton instance of {@link Mailbox} for the whole robot. */
   public static Mailbox mailbox = new Mailbox();
 
-  /** Singleton instance of {@link DeindexNote} for the whole robot. */
-  public static DeindexNote deindexNote = new DeindexNote();
-
   /** Singleton instance of {@link Intake} for the whole robot. */
   public static Intake intake = new Intake();
 
@@ -70,6 +68,8 @@ public class RobotContainer {
   private EnterXMode enterXMode = new EnterXMode();
   private DeployPneumatics deployPneumatics = new DeployPneumatics();
   private RunBelts runBelts = new RunBelts();
+  private DeployMailbox deployMailbox = new DeployMailbox();
+  private DeindexNote deindexNote = new DeindexNote();
   private RunIntake runIntake = new RunIntake();
 
   /*

From a57836d4aba9aab08f4835eb791e6fd29e49a5ad Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:29:19 -0600
Subject: [PATCH 16/29] Added FireNote.java

---
 .../commands/mailbox/DeployPneumatics.java    |  1 +
 .../frc/robot/commands/mailbox/FireNote.java  | 21 ++++++++
 .../robot/commands/mailbox/OutputNote.java    | 48 -------------------
 .../commands/mailbox/RetractPneumatics.java   | 40 ----------------
 4 files changed, 22 insertions(+), 88 deletions(-)
 create mode 100644 src/main/java/frc/robot/commands/mailbox/FireNote.java
 delete mode 100644 src/main/java/frc/robot/commands/mailbox/OutputNote.java
 delete mode 100644 src/main/java/frc/robot/commands/mailbox/RetractPneumatics.java

diff --git a/src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java b/src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java
index 69d2ceeb..ba7e9483 100644
--- a/src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java
+++ b/src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java
@@ -38,6 +38,7 @@ public void execute() {}
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+    mailboxPneumatics.retract();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/mailbox/FireNote.java b/src/main/java/frc/robot/commands/mailbox/FireNote.java
new file mode 100644
index 00000000..34842fad
--- /dev/null
+++ b/src/main/java/frc/robot/commands/mailbox/FireNote.java
@@ -0,0 +1,21 @@
+// 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.mailbox;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.RobotContainer;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class FireNote extends ParallelCommandGroup {
+  /** Creates a new FireNote. */
+  public FireNote() {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(new DeployMailbox(), new DeindexNote());
+  }
+
+}
diff --git a/src/main/java/frc/robot/commands/mailbox/OutputNote.java b/src/main/java/frc/robot/commands/mailbox/OutputNote.java
deleted file mode 100644
index 3c9a18d9..00000000
--- a/src/main/java/frc/robot/commands/mailbox/OutputNote.java
+++ /dev/null
@@ -1,48 +0,0 @@
-// 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.mailbox;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.RobotContainer;
-import frc.robot.subsystems.mailbox.Mailbox;
-import frc.robot.subsystems.mailbox.MailboxBelts;
-import frc.robot.subsystems.mailbox.MailboxPneumatics;
-
-
-
-public class OutputNote extends Command {
-  /** Creates a new OutputNote. */
-
-  private MailboxBelts mailboxBelts;
-  private MailboxPneumatics mailboxPneumatics;
-  private Mailbox mailbox;
-
-  public OutputNote() {
-
-    this.mailboxBelts = RobotContainer.mailboxBelts;
-    this.mailboxPneumatics = RobotContainer.mailboxPneumatics;
-    this.mailbox = RobotContainer.mailbox;
-    
-    addRequirements(mailboxBelts, mailboxPneumatics);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // 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) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/mailbox/RetractPneumatics.java b/src/main/java/frc/robot/commands/mailbox/RetractPneumatics.java
deleted file mode 100644
index 61686690..00000000
--- a/src/main/java/frc/robot/commands/mailbox/RetractPneumatics.java
+++ /dev/null
@@ -1,40 +0,0 @@
-// 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.mailbox;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.RobotContainer;
-import frc.robot.subsystems.mailbox.MailboxPneumatics;
-
-public class RetractPneumatics extends Command {
-
-  private MailboxPneumatics mailboxPneumatics;
-
-  /** Creates a new RetractPneumatics. */
-  public RetractPneumatics() {
-    mailboxPneumatics = RobotContainer.mailboxPneumatics;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    mailboxPneumatics.retract();
-  }
-
-  // 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) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

From 5a0a7860a12dc54084427857a0d53b2382658076 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:36:56 -0600
Subject: [PATCH 17/29] XBox Controller fires note with Y

---
 src/main/java/frc/robot/RobotContainer.java            | 4 +++-
 src/main/java/frc/robot/commands/mailbox/FireNote.java | 6 +-----
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 64b37c1b..4bada2b3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,6 +22,7 @@
 import frc.robot.commands.mailbox.DeindexNote;
 import frc.robot.commands.mailbox.DeployMailbox;
 import frc.robot.commands.mailbox.DeployPneumatics;
+import frc.robot.commands.mailbox.FireNote;
 import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
@@ -70,6 +71,7 @@ public class RobotContainer {
   private RunBelts runBelts = new RunBelts();
   private DeployMailbox deployMailbox = new DeployMailbox();
   private DeindexNote deindexNote = new DeindexNote();
+  private FireNote fireNote = new FireNote();
   private RunIntake runIntake = new RunIntake();
 
   /*
@@ -97,7 +99,7 @@ private void configureBindings() {
 
     driverController.x().onTrue(enterXMode);
     driverController.a().onTrue(runIntake);
-    driverController.y().onTrue(deployPneumatics);
+    driverController.y().onTrue(fireNote);
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/mailbox/FireNote.java b/src/main/java/frc/robot/commands/mailbox/FireNote.java
index 34842fad..8e0c7d62 100644
--- a/src/main/java/frc/robot/commands/mailbox/FireNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/FireNote.java
@@ -7,14 +7,10 @@
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import frc.robot.RobotContainer;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+
 public class FireNote extends ParallelCommandGroup {
   /** Creates a new FireNote. */
   public FireNote() {
-    // Add your commands in the addCommands() call, e.g.
-    // addCommands(new FooCommand(), new BarCommand());
     addCommands(new DeployMailbox(), new DeindexNote());
   }
 

From ec6912331504be6b4ea289c8b1ac69b3bd51ddf5 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:37:35 -0600
Subject: [PATCH 18/29] Removed unused class

---
 .../robot/commands/mailbox/RetractMailbox.java    | 15 ---------------
 1 file changed, 15 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/mailbox/RetractMailbox.java

diff --git a/src/main/java/frc/robot/commands/mailbox/RetractMailbox.java b/src/main/java/frc/robot/commands/mailbox/RetractMailbox.java
deleted file mode 100644
index 8e66b188..00000000
--- a/src/main/java/frc/robot/commands/mailbox/RetractMailbox.java
+++ /dev/null
@@ -1,15 +0,0 @@
-// 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.mailbox;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-
-public class RetractMailbox extends ParallelCommandGroup {
-  /** Creates a new DeployMailbox. */
-  public RetractMailbox() {
-    addCommands(new DeployPneumatics(), new RunBelts());
-  }
-}

From d660fe88add003359d5285f48e9a9815bc5e1dd0 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:43:07 -0600
Subject: [PATCH 19/29] javadoc

---
 src/main/java/frc/robot/commands/mailbox/DeindexNote.java | 2 ++
 src/main/java/frc/robot/commands/mailbox/FireNote.java    | 2 +-
 src/main/java/frc/robot/subsystems/mailbox/Mailbox.java   | 4 ++++
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
index 09391cd6..16a98bdc 100644
--- a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
@@ -9,6 +9,7 @@
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.mailbox.Mailbox;
 
+/** Outputs the note from the index belts into the mailbox belts. */
 public class DeindexNote extends Command {
 
   private Intake intake;
@@ -28,6 +29,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    /* If the mailbox is fully raised, run the intake. */
     if (mailbox.getLimitSwitch()) {
       intake.runIntake();
     }
diff --git a/src/main/java/frc/robot/commands/mailbox/FireNote.java b/src/main/java/frc/robot/commands/mailbox/FireNote.java
index 8e0c7d62..0a1c019a 100644
--- a/src/main/java/frc/robot/commands/mailbox/FireNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/FireNote.java
@@ -7,7 +7,7 @@
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import frc.robot.RobotContainer;
 
-
+/** Scores the note into the amp. Raises the mailbox, runs the mailbox belts, and then runs the index belts to send the note into the belts. */
 public class FireNote extends ParallelCommandGroup {
   /** Creates a new FireNote. */
   public FireNote() {
diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index ac6e2809..331f525c 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -18,6 +18,7 @@
 /** Subsystem for the mailbox that outputs game pieces from our robot. */
 public class Mailbox extends SubsystemBase {
 
+  /** Limit switch that detects when the mailbox is raised. */
   private DigitalInput limitSwitch;
 
   /** Creates a new Mailbox. */
@@ -26,6 +27,9 @@ public Mailbox() {
     this.limitSwitch = new DigitalInput(Constants.Mailbox.MAILBOX_LIMIT_SWITCH_DIO_PORT);
   }
 
+  /** Gets the Mailbox Limit Switch's Value. 
+   * @return true if the mailbox is fully raised. False otherwise.
+   */
   public boolean getLimitSwitch() {
     return limitSwitch.get();
   }

From 3e58a28e2d6e3c226f23a4551df06e6c93fe0223 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:43:32 -0600
Subject: [PATCH 20/29] spotless

---
 src/main/java/frc/robot/Constants.java             |  1 +
 .../frc/robot/commands/mailbox/DeindexNote.java    |  7 +++++++
 .../java/frc/robot/commands/mailbox/FireNote.java  | 14 +++++++++++---
 .../java/frc/robot/subsystems/mailbox/Mailbox.java |  4 +++-
 4 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6f1707d0..4a3bc168 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -29,6 +29,7 @@ public static class Mailbox {
     /** DIO Port ID for the Mailbox limit switch. */
     public static final int MAILBOX_LIMIT_SWITCH_DIO_PORT = 0;
   }
+
   /** Constants for the Pneumatics system. */
   public static class MailboxPneumatics {
     /** The channel on the PCM for the forward direction on the left solenoid. */
diff --git a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
index 16a98bdc..37d45433 100644
--- a/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/DeindexNote.java
@@ -2,6 +2,13 @@
 // 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.
 
+/*
+ * Asimov's Laws:
+ * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.
+ * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
+ * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
+ */
+
 package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
diff --git a/src/main/java/frc/robot/commands/mailbox/FireNote.java b/src/main/java/frc/robot/commands/mailbox/FireNote.java
index 0a1c019a..672a35a7 100644
--- a/src/main/java/frc/robot/commands/mailbox/FireNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/FireNote.java
@@ -2,16 +2,24 @@
 // 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.
 
+/*
+ * Asimov's Laws:
+ * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.
+ * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
+ * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
+ */
+
 package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import frc.robot.RobotContainer;
 
-/** Scores the note into the amp. Raises the mailbox, runs the mailbox belts, and then runs the index belts to send the note into the belts. */
+/**
+ * Scores the note into the amp. Raises the mailbox, runs the mailbox belts, and then runs the index
+ * belts to send the note into the belts.
+ */
 public class FireNote extends ParallelCommandGroup {
   /** Creates a new FireNote. */
   public FireNote() {
     addCommands(new DeployMailbox(), new DeindexNote());
   }
-
 }
diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index 331f525c..cf41bab6 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -27,7 +27,9 @@ public Mailbox() {
     this.limitSwitch = new DigitalInput(Constants.Mailbox.MAILBOX_LIMIT_SWITCH_DIO_PORT);
   }
 
-  /** Gets the Mailbox Limit Switch's Value. 
+  /**
+   * Gets the Mailbox Limit Switch's Value.
+   *
    * @return true if the mailbox is fully raised. False otherwise.
    */
   public boolean getLimitSwitch() {

From 29e6ca2c332e906a164d71b901216dc74bf80753 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:49:33 -0600
Subject: [PATCH 21/29] fixed import

---
 src/main/java/frc/robot/RobotContainer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d47917db..a27f92ee 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,7 +15,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.commands.DeployPneumatics;
+import frc.robot.commands.mailbox.DeployPneumatics;
 import frc.robot.commands.EnterXMode;
 import frc.robot.commands.RunIntake;
 import frc.robot.commands.mailbox.DeindexNote;

From f133c7e0a223d80731a004b0fc9b53ef09923da7 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Wed, 31 Jan 2024 19:50:11 -0600
Subject: [PATCH 22/29] spotless

---
 src/main/java/frc/robot/RobotContainer.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a27f92ee..176a1276 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,15 +15,15 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.commands.mailbox.DeployPneumatics;
 import frc.robot.commands.EnterXMode;
 import frc.robot.commands.RunIntake;
+import frc.robot.commands.drive.DriveFieldOriented;
+import frc.robot.commands.drive.DriveRobotOriented;
 import frc.robot.commands.mailbox.DeindexNote;
 import frc.robot.commands.mailbox.DeployMailbox;
+import frc.robot.commands.mailbox.DeployPneumatics;
 import frc.robot.commands.mailbox.FireNote;
 import frc.robot.commands.mailbox.RunBelts;
-import frc.robot.commands.drive.DriveFieldOriented;
-import frc.robot.commands.drive.DriveRobotOriented;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.mailbox.Mailbox;

From 17c3c8f94a1ef1dc7471d1a6684a9cadcb33aabb Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Thu, 1 Feb 2024 18:01:26 -0600
Subject: [PATCH 23/29] spotless

---
 src/main/java/frc/robot/RobotContainer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c3bcf5e2..3e72a88f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -27,8 +27,8 @@
 import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
-import frc.robot.subsystems.mailbox.Mailbox;
 import frc.robot.subsystems.UrMom;
+import frc.robot.subsystems.mailbox.Mailbox;
 import frc.robot.subsystems.mailbox.MailboxBelts;
 import frc.robot.subsystems.mailbox.MailboxPneumatics;
 

From b4729e0f0cd00010af3eae739eb24b2c2b328cec Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Thu, 1 Feb 2024 18:50:32 -0600
Subject: [PATCH 24/29] Renamed FireNote to FireNoteRoutine

---
 src/main/java/frc/robot/RobotContainer.java                   | 4 ++--
 .../commands/mailbox/{FireNote.java => FireNoteRoutine.java}  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)
 rename src/main/java/frc/robot/commands/mailbox/{FireNote.java => FireNoteRoutine.java} (91%)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3e72a88f..2d9bf115 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,7 +23,7 @@
 import frc.robot.commands.mailbox.DeindexNote;
 import frc.robot.commands.mailbox.DeployMailbox;
 import frc.robot.commands.mailbox.DeployPneumatics;
-import frc.robot.commands.mailbox.FireNote;
+import frc.robot.commands.mailbox.FireNoteRoutine;
 import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
@@ -76,7 +76,7 @@ public class RobotContainer {
   private RunBelts runBelts = new RunBelts();
   private DeployMailbox deployMailbox = new DeployMailbox();
   private DeindexNote deindexNote = new DeindexNote();
-  private FireNote fireNote = new FireNote();
+  private FireNoteRoutine fireNote = new FireNoteRoutine();
   private RunIntake runIntake = new RunIntake();
   private DeployUrMom deployUrMom = new DeployUrMom();
 
diff --git a/src/main/java/frc/robot/commands/mailbox/FireNote.java b/src/main/java/frc/robot/commands/mailbox/FireNoteRoutine.java
similarity index 91%
rename from src/main/java/frc/robot/commands/mailbox/FireNote.java
rename to src/main/java/frc/robot/commands/mailbox/FireNoteRoutine.java
index 672a35a7..4d32786d 100644
--- a/src/main/java/frc/robot/commands/mailbox/FireNote.java
+++ b/src/main/java/frc/robot/commands/mailbox/FireNoteRoutine.java
@@ -17,9 +17,9 @@
  * Scores the note into the amp. Raises the mailbox, runs the mailbox belts, and then runs the index
  * belts to send the note into the belts.
  */
-public class FireNote extends ParallelCommandGroup {
+public class FireNoteRoutine extends ParallelCommandGroup {
   /** Creates a new FireNote. */
-  public FireNote() {
+  public FireNoteRoutine() {
     addCommands(new DeployMailbox(), new DeindexNote());
   }
 }

From da587394e66a8fee6441fef18047f2f43dffac38 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Thu, 1 Feb 2024 18:51:19 -0600
Subject: [PATCH 25/29] Added javadoc

---
 src/main/java/frc/robot/subsystems/mailbox/Mailbox.java | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index cf41bab6..18f62469 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -23,12 +23,11 @@ public class Mailbox extends SubsystemBase {
 
   /** Creates a new Mailbox. */
   public Mailbox() {
-
     this.limitSwitch = new DigitalInput(Constants.Mailbox.MAILBOX_LIMIT_SWITCH_DIO_PORT);
   }
 
   /**
-   * Gets the Mailbox Limit Switch's Value.
+   * Gets the Mailbox Limit Switch's Value. Assumes the limitSwitch reports false when open.
    *
    * @return true if the mailbox is fully raised. False otherwise.
    */

From ad1a3ae6fd198eb4c2b5e1f2e4c210abaf9f3aca Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 5 Feb 2024 15:00:24 -0600
Subject: [PATCH 26/29] Added comment

---
 src/main/java/frc/robot/subsystems/mailbox/Mailbox.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index 18f62469..8a47653c 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -32,6 +32,7 @@ public Mailbox() {
    * @return true if the mailbox is fully raised. False otherwise.
    */
   public boolean getLimitSwitch() {
+    /* Assumes the limit switch is wired to be normally open. */
     return limitSwitch.get();
   }
 

From 40718d27b7827ce044f09e43ec84fcbb9483faed Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 5 Feb 2024 15:53:21 -0600
Subject: [PATCH 27/29] capitilization

---
 src/main/java/frc/robot/subsystems/mailbox/Mailbox.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index 8a47653c..51232f28 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -28,8 +28,8 @@ public Mailbox() {
 
   /**
    * Gets the Mailbox Limit Switch's Value. Assumes the limitSwitch reports false when open.
-   *
-   * @return true if the mailbox is fully raised. False otherwise.
+   * 
+   * @return True if the mailbox is fully raised. False otherwise.
    */
   public boolean getLimitSwitch() {
     /* Assumes the limit switch is wired to be normally open. */

From 889594d0ee1e66e2a14d32d878bc4849c2627817 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 5 Feb 2024 16:04:19 -0600
Subject: [PATCH 28/29] spotless

---
 src/main/java/frc/robot/subsystems/mailbox/Mailbox.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index 51232f28..34140278 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -28,7 +28,7 @@ public Mailbox() {
 
   /**
    * Gets the Mailbox Limit Switch's Value. Assumes the limitSwitch reports false when open.
-   * 
+   *
    * @return True if the mailbox is fully raised. False otherwise.
    */
   public boolean getLimitSwitch() {

From bc1f9c5200f2b641b313fd412a4ef8364aa5a492 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 5 Feb 2024 16:10:49 -0600
Subject: [PATCH 29/29] javadoc

---
 src/main/java/frc/robot/subsystems/mailbox/Mailbox.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
index 34140278..60d5c747 100644
--- a/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
+++ b/src/main/java/frc/robot/subsystems/mailbox/Mailbox.java
@@ -27,7 +27,7 @@ public Mailbox() {
   }
 
   /**
-   * Gets the Mailbox Limit Switch's Value. Assumes the limitSwitch reports false when open.
+   * Gets the Mailbox Limit Switch's Value.
    *
    * @return True if the mailbox is fully raised. False otherwise.
    */