From 1cd5f0f3d666f0cd6b8d26c0bd6593d07a4a03a8 Mon Sep 17 00:00:00 2001
From: Jack-Haefele <113944276+Jack-Haefele@users.noreply.github.com>
Date: Mon, 22 Apr 2024 15:33:56 -0500
Subject: [PATCH 01/11] updated SDPFOHS to actually set the drive perspective
 to field oriented heading snapping

---
 .../SetDrivePerspectiveFieldOrientedHeadingSnapping.java      | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java
index 2191e69..f5d79c5 100644
--- a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java
+++ b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java
@@ -30,7 +30,9 @@ public SetDrivePerspectiveFieldOrientedHeadingSnapping() {
   @Override
   public void initialize() {
     drive.setDefaultCommand(RobotContainer.driveFieldOriented);
-    Controllers.pilotController.leftBumper().whileTrue(RobotContainer.driveFieldOrientedSprint);
+    Controllers.pilotController
+        .leftBumper()
+        .whileTrue(RobotContainer.driveFieldOrientedHeadingSnapping);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

From 791ff8be33b667351151ac278682e3b44e59d0cf Mon Sep 17 00:00:00 2001
From: Jack-Haefele <113944276+Jack-Haefele@users.noreply.github.com>
Date: Mon, 22 Apr 2024 15:36:19 -0500
Subject: [PATCH 02/11] updated operatorless right bumper to drive field
 oriented sprint

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

diff --git a/src/main/java/frc/robot/Controllers.java b/src/main/java/frc/robot/Controllers.java
index 889fc7f..292a188 100644
--- a/src/main/java/frc/robot/Controllers.java
+++ b/src/main/java/frc/robot/Controllers.java
@@ -123,7 +123,7 @@ private static void configureOperatorlessKeybinds() {
     pilotController.b().whileTrue(RobotContainer.fireNote);
     pilotController.x().whileTrue(RobotContainer.climbUp);
     pilotController.y().whileTrue(RobotContainer.climbDown);
-    pilotController.rightBumper().whileTrue(RobotContainer.driveFieldOrientedHeadingSnapping);
+    pilotController.rightBumper().whileTrue(RobotContainer.driveFieldOrientedSprint);
 
     keymapEntry.setString("Operatorless");
   }

From 9a9ed7e8aef0d0c8ee3c9f6041d4e9b9af2096c8 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:23:48 -0500
Subject: [PATCH 03/11] AddressableLightStrip setColorLight javadoc

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

diff --git a/src/main/java/frc/robot/subsystems/AddressableLightStrip.java b/src/main/java/frc/robot/subsystems/AddressableLightStrip.java
index 0d1bdaa..e9a0571 100644
--- a/src/main/java/frc/robot/subsystems/AddressableLightStrip.java
+++ b/src/main/java/frc/robot/subsystems/AddressableLightStrip.java
@@ -46,8 +46,8 @@ public AddressableLightStrip(int pwmPort, int lightCount) {
   /**
    * Sets a light on the light strip to a {@link edu.wpi.first.wpilibj.util.Color}
    *
-   * @param lightNumber
-   * @param color
+   * @param lightNumber the number of the LED.
+   * @param color The color to set the LED to.
    */
   public void setColorLight(int lightNumber, Color color) {
     if (lightNumber > this.buffer.getLength()) {

From ac08d99062f34d20da542eaaf704ca64d824cb0a Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:25:49 -0500
Subject: [PATCH 04/11] DriveToAmps javadocs

---
 src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java | 3 ++-
 src/main/java/frc/robot/commands/auto/DriveToAmpRed.java  | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
index 7995359..ab78a64 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
@@ -19,9 +19,10 @@
 // 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
+/** Drives bot to blue amp. */
 public class DriveToAmpBlue extends SequentialCommandGroup {
 
-  /** Creates a new DriveToAmp. */
+  /** Creates a new DriveToAmpBlue. */
   public DriveToAmpBlue() {
     super(
         new ParallelDeadlineGroup(
diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
index 0d3f61d..d05a3d1 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
@@ -19,9 +19,10 @@
 // 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
+/** Drives bot to red amp. */
 public class DriveToAmpRed extends SequentialCommandGroup {
 
-  /** Creates a new DriveToAmp. */
+  /** Creates a new DriveToAmpRed. */
   public DriveToAmpRed() {
     super(
         new ParallelDeadlineGroup(

From a4d09b8852d08074112a8efe3d3b667a90cfede1 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:27:03 -0500
Subject: [PATCH 05/11] javadoc DriveToCenterAuto

---
 src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java    | 2 +-
 src/main/java/frc/robot/commands/auto/DriveToAmpRed.java     | 2 +-
 src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
index ab78a64..2caab63 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
@@ -19,7 +19,7 @@
 // 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
-/** Drives bot to blue amp. */
+/** Auto that drives bot to blue amp. */
 public class DriveToAmpBlue extends SequentialCommandGroup {
 
   /** Creates a new DriveToAmpBlue. */
diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
index d05a3d1..91f7cb8 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
@@ -19,7 +19,7 @@
 // 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
-/** Drives bot to red amp. */
+/** Auto that drives bot to red amp. */
 public class DriveToAmpRed extends SequentialCommandGroup {
 
   /** Creates a new DriveToAmpRed. */
diff --git a/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java b/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java
index 9c00c3a..d6aac6c 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToCenterAuto.java
@@ -19,6 +19,7 @@
 // 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
+/** Auto that drives bot to center of field. */
 public class DriveToCenterAuto extends ParallelCommandGroup {
   /** Creates a new PickUpFromCenterAuto. */
   public DriveToCenterAuto() {

From 02f53ab21629ccc5a96da2fadb1fdeecec8fda2a Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:28:12 -0500
Subject: [PATCH 06/11] DumpNote javadoc

---
 src/main/java/frc/robot/commands/auto/DumpNote.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/commands/auto/DumpNote.java b/src/main/java/frc/robot/commands/auto/DumpNote.java
index 1ef7fcd..1475b47 100644
--- a/src/main/java/frc/robot/commands/auto/DumpNote.java
+++ b/src/main/java/frc/robot/commands/auto/DumpNote.java
@@ -18,6 +18,7 @@
 // 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
+/** Auto that dumps the preloaded note in the robot after 4 seconds. */
 public class DumpNote extends ParallelDeadlineGroup {
   /** Creates a new DumpNote. */
   public DumpNote() {

From cf0324e095cf7e879aab7d66699087a4ef0db989 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:29:34 -0500
Subject: [PATCH 07/11] OnePieceAutoButItWorksISwear javadoc

---
 .../frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java   | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
index 67b6531..9bb17c5 100644
--- a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
+++ b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
@@ -17,6 +17,8 @@
 // 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
+// One piece - the anime thing
+/** Auto that drives to the amp and offloads the note. */
 public class OnePieceAutoButItWorksISwear extends SequentialCommandGroup {
   /** Creates a new OnePieceAutoButItWorksISwear. */
   public OnePieceAutoButItWorksISwear() {

From 8afa2fd853b8301d5b8e1221d49c0e9fe739446c Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:30:39 -0500
Subject: [PATCH 08/11] PickUpFromCenterAuto javadoc

---
 src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java b/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java
index cfeed52..613871c 100644
--- a/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java
+++ b/src/main/java/frc/robot/commands/auto/PickUpFromCenterAuto.java
@@ -20,6 +20,7 @@
 // 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
+/** Auto that drives the bot to a note and intakes it. */
 public class PickUpFromCenterAuto extends ParallelCommandGroup {
   /** Creates a new PickUpFromCenterAuto. */
   public PickUpFromCenterAuto() {

From 9c6cdd54e9fdf09df8ecbf2f66db92a80a4a2534 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:32:54 -0500
Subject: [PATCH 09/11] added javadoc to public instances in robotContainer

---
 src/main/java/frc/robot/RobotContainer.java | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4b8506e..9621e7c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -265,13 +265,17 @@ public class RobotContainer {
   /** Singleton instance of {@link OnePieceAuto} for the whole robot. */
   public static OnePieceAuto onePieceAuto = new OnePieceAuto();
 
+  /** Singleton instance of {@link OnePieceAutoButItWorksISwear} for the whole robot. */
   public static OnePieceAutoButItWorksISwear onePieceAutoButItWorksISwear =
       new OnePieceAutoButItWorksISwear();
 
+  /** Singleton instance of {@link TaxiLongAuto} for the whole robot. */
   public static TaxiLongAuto taxiLongAuto = new TaxiLongAuto();
 
+  /** Singleton instance of {@link PickUpFromCenterAuto} for the whole robot. */
   public static PickUpFromCenterAuto pickUpFromCenterAuto = new PickUpFromCenterAuto();
 
+  /** Singleton instance of {@link DriveToCenterAuto} for the whole robot. */
   public static DriveToCenterAuto driveToCenterAuto = new DriveToCenterAuto();
 
   /** Singleton instance of {@link TaxiAuto} for the whole robot. */
@@ -286,7 +290,7 @@ public class RobotContainer {
   /** Singleton instance of {@link DisabledLight} for the whole robot. */
   public static DisabledLight disabledLights = new DisabledLight();
 
-  /** Singleton instance of {@link EnableLights} for the whole robot. */
+  /** Singleton instance of {@link EnabledLight} for the whole robot. */
   public static EnabledLight enabledLights = new EnabledLight();
 
   /** Singleton instance of {@link NoteLight} for the whole robot. */

From 8ea04d6d38a9d74dadc7361997e096484ad8d8a7 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 22 Apr 2024 16:51:26 -0500
Subject: [PATCH 10/11] javadoc autos

---
 src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java       | 2 +-
 src/main/java/frc/robot/commands/auto/DriveToAmpRed.java        | 2 +-
 .../frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
index 2caab63..49b4348 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpBlue.java
@@ -19,7 +19,7 @@
 // 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
-/** Auto that drives bot to blue amp. */
+/** Auto that manually drives bot to blue amp. Made due to faulty limelight at comp. */
 public class DriveToAmpBlue extends SequentialCommandGroup {
 
   /** Creates a new DriveToAmpBlue. */
diff --git a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
index 91f7cb8..75f9a6a 100644
--- a/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
+++ b/src/main/java/frc/robot/commands/auto/DriveToAmpRed.java
@@ -19,7 +19,7 @@
 // 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
-/** Auto that drives bot to red amp. */
+/** Auto that manually drives bot to red amp. Made due to faulty limelight at comp. */
 public class DriveToAmpRed extends SequentialCommandGroup {
 
   /** Creates a new DriveToAmpRed. */
diff --git a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
index 9bb17c5..073a801 100644
--- a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
+++ b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
@@ -18,7 +18,7 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 // One piece - the anime thing
-/** Auto that drives to the amp and offloads the note. */
+/** Auto that manually drives to the amp and offloads the note. Made due to faulty limelight at comp. */
 public class OnePieceAutoButItWorksISwear extends SequentialCommandGroup {
   /** Creates a new OnePieceAutoButItWorksISwear. */
   public OnePieceAutoButItWorksISwear() {

From 663e4e16319f2071e804ff636c8b6f5e203e03d3 Mon Sep 17 00:00:00 2001
From: Berdenson <91093973+Berdenson@users.noreply.github.com>
Date: Mon, 29 Apr 2024 15:20:40 -0500
Subject: [PATCH 11/11] spotless

---
 .../frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
index 073a801..0367ff2 100644
--- a/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
+++ b/src/main/java/frc/robot/commands/auto/OnePieceAutoButItWorksISwear.java
@@ -18,7 +18,9 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 // One piece - the anime thing
-/** Auto that manually drives to the amp and offloads the note. Made due to faulty limelight at comp. */
+/**
+ * Auto that manually drives to the amp and offloads the note. Made due to faulty limelight at comp.
+ */
 public class OnePieceAutoButItWorksISwear extends SequentialCommandGroup {
   /** Creates a new OnePieceAutoButItWorksISwear. */
   public OnePieceAutoButItWorksISwear() {