Debugging ramsete controller

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

@@ -11,6 +11,7 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -35,6 +36,7 @@ public class Robot extends TimedRobot {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
+    SmartDashboard.putString("Auto?", "NAH");
   }
 
   /**
@@ -77,7 +79,7 @@ public class Robot extends TimedRobot {
 
     m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
     m_robotContainer.resetOdometry();
-    m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
+    //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
 
     /*
      * String autoSelected = SmartDashboard.getString("Auto Selector",
@@ -103,7 +105,7 @@ public class Robot extends TimedRobot {
   @Override
   public void teleopInit() {
     m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
-    m_robotContainer.configDriveTrainSensors(FeedbackDevice.SensorDifference);
+    //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
     
     // This makes sure that the autonomous stops running when
     // teleop starts running. If you want the autonomous to
@@ -112,6 +114,8 @@ public class Robot extends TimedRobot {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
+
+    SmartDashboard.putString("Auto?", "NAH");
   }
 
   /**