THIS WORKS CURRENTLY

src/main/java/frc4388/robot/Robot.java

@@ -64,9 +64,6 @@ public class Robot extends TimedRobot {
     LOGGER.log(Level.FINE, "Logging Test 6/8");
     LOGGER.log(Level.FINER, "Logging Test 7/8");
     LOGGER.log(Level.FINEST, "Logging Test 8/8");
-    Errors.log().run(() -> {
-      throw new Throwable("Exception Test");
-    });
 
     // var path =
     // PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move

src/main/java/frc4388/robot/RobotContainer.java

@@ -64,6 +64,7 @@ import frc4388.robot.subsystems.VisionOdometry;
 import frc4388.utility.PathPlannerUtil;
 import frc4388.utility.controller.ButtonBox;
 import frc4388.utility.controller.DeadbandedRawXboxController;
+import frc4388.utility.controller.DeadbandedXboxController;
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -96,8 +97,8 @@ public class RobotContainer {
   /* Autonomous */
   private final PathRecorder m_pathChooser = new PathRecorder(m_robotSwerveDrive);
   // Controllers
-  private final static XboxController m_driverXbox = new DeadbandedRawXboxController(OIConstants.XBOX_DRIVER_ID);
+  private final static XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
-  private final static XboxController m_operatorXbox = new DeadbandedRawXboxController(OIConstants.XBOX_OPERATOR_ID);
+  private final static XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
   private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
   
   public static boolean softLimits = true;

src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java

@@ -79,15 +79,14 @@ public class TrackTarget extends CommandBase {
 
     velocity = 0;
     hoodPosition = 0;
+    m_visionOdometry.setDriverMode(false);
+    m_visionOdometry.setLEDs(true);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {    
     try {
-      m_visionOdometry.setDriverMode(false);
-      m_visionOdometry.setLEDs(true);
-
       points = m_visionOdometry.getTargetPoints();
       // points = getFakePoints();
       //// points = filterPoints(points);
@@ -114,8 +113,8 @@ public class TrackTarget extends CommandBase {
       velocity = m_boomBoom.getVelocity(regressedDistance);
       hoodPosition = m_boomBoom.getHood(regressedDistance);
       
-      m_boomBoom.runDrumShooterVelocityPID(velocity);
+      m_boomBoom.runDrumShooterVelocityPID(velocity + 20);
-      m_hood.runAngleAdjustPID(hoodPosition);
+      m_hood.runAngleAdjustPID(hoodPosition + 20);
       
       double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
       double currentHood = this.m_hood.getEncoderPosition();

src/main/java/frc4388/robot/subsystems/Claws.java

@@ -30,12 +30,14 @@ public class Claws extends SubsystemBase {
   private double m_rightOffset;
 
   private boolean m_open;
+  private boolean clawsOpen;
   public static enum ClawType {LEFT, RIGHT}
 
   public Claws(Servo leftClaw, Servo rightClaw) {
     m_leftClaw = leftClaw;
     m_rightClaw = rightClaw;
     m_open = false;
+    clawsOpen = false;
   }
 
   /**
@@ -46,11 +48,11 @@ public class Claws extends SubsystemBase {
     if(open) {
       m_leftClaw.setRaw(ClawConstants.BOTTOM_LIMIT - 900);
       m_rightClaw.setRaw(ClawConstants.TOP_LIMIT + 100);
-      SmartDashboard.putBoolean("Claws Closed", false);
+      clawsOpen = false;
     } else {
       m_leftClaw.setRaw(ClawConstants.TOP_LIMIT - 400);
       m_rightClaw.setRaw(ClawConstants.BOTTOM_LIMIT - 400);
-      SmartDashboard.putBoolean("Claws Closed", true);
+      clawsOpen = true;
     }
   }
 
@@ -62,5 +64,6 @@ public class Claws extends SubsystemBase {
 
   @Override
   public void periodic() {
+    SmartDashboard.putBoolean("Claws Closed", clawsOpen);
   }
 }

src/main/java/frc4388/robot/subsystems/Hood.java

@@ -64,7 +64,7 @@ public class Hood extends SubsystemBase {
     // SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition());
 
     // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output).
-    runVelocityRamping();
+    // runVelocityRamping();
   }
 
   public void runVelocityRamping() {