haha

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

@@ -709,6 +709,16 @@ public class Drive extends SubsystemBase {
     return meters * DriveConstants.INCHES_PER_METER;
   }
 
+  /**
+   * Converts a value in inches per second to miles per hour
+   * @param ips The value in inches per second to convert
+   * @return The value in miles per hour
+   */
+  public double inchesPerSecondToMilesPerHour(double ips) {
+    double mph = ips * (3600) * (1/63360);
+    return mph;
+  }
+
   public void setRightMotorGains(boolean isHighGear) {
     if (!isHighGear) {
       m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
@@ -828,8 +838,6 @@ public class Drive extends SubsystemBase {
 
   public void updateSmartDashboard() {
     try {
-      
-
 
       // SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
       // SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
@@ -838,6 +846,14 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro);
       SmartDashboard.putData("Drive Train", m_driveTrain);
 
+      SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition());
+      SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition());
+
+      SmartDashboard.putNumber("Average Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
+
+      double avgSpeedMPH = inchesPerSecondToMilesPerHour(10 * ticksToInches(m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)));
+
+      SmartDashboard.putNumber("Avg Speed MPH", avgSpeedMPH);
 
       //SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
       //SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
@@ -852,8 +868,6 @@ public class Drive extends SubsystemBase {
 
       //SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
       //SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
-      //SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
-      //SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
       
       //SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
       //SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
@@ -889,8 +903,8 @@ public class Drive extends SubsystemBase {
       //SmartDashboard.putString("Odometry Values Meters", getPose().toString());
       //SmartDashboard.putNumber("Odometry Heading", getHeading());
 
-      SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
-      SmartDashboard.putNumber("Delta Time", m_deltaTimeMs);
+      //SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
+      //SmartDashboard.putNumber("Delta Time", m_deltaTimeMs);
 
       if (m_currentSong != m_songChooser.getSelected()){
         m_currentSong = m_songChooser.getSelected();

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

@@ -91,6 +91,8 @@ public class Shooter extends SubsystemBase {
 
     SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
 
+    SmartDashboard.putBoolean("Drum Ready", m_isDrumReady);
+
     //SmartDashboard.putNumber("Hood Position", m_shooter.getAnglePosition());
     }
 

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

@@ -17,6 +17,7 @@ import com.revrobotics.CANSparkMax.SoftLimitDirection;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.ControlType;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.Gains;
@@ -57,6 +58,9 @@ public class ShooterAim extends SubsystemBase {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    SmartDashboard.putNumber("Turret Angle Raw", getShooterRotatePosition());
+
+    SmartDashboard.putBoolean("Aim Ready", m_isAimReady);
   }
 
   /**

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

@@ -58,6 +58,8 @@ public class ShooterHood extends SubsystemBase {
   public void periodic() {
     // This method will be called once per scheduler run
     SmartDashboard.putNumber("Fire Angle CSV", m_fireAngle);
+
+    SmartDashboard.putNumber("Hood Angle Raw", getAnglePosition());
   }
 
   /**