Merge branch 'master' into vision_camera_final

src/main/java/frc4388/robot/Constants.java

@@ -29,11 +29,11 @@ public final class Constants {
         /* PID Constants Drive*/
         public static final int DRIVE_TIMEOUT_MS = 30;
         public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
-        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0);
-        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3);
+        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.1, 0, 1.0);
+        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.5);
         public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
-        public static final int DRIVE_CRUISE_VELOCITY = 2000;
-        public static final int DRIVE_ACCELERATION = 1000;
+        public static final int DRIVE_CRUISE_VELOCITY = 20000;
+        public static final int DRIVE_ACCELERATION = 7000;
 
         /* Remote Sensors */
         public final static int REMOTE_0 = 0;
@@ -66,24 +66,30 @@ public final class Constants {
     }
     
     public static final class IntakeConstants {
-        public static final int INTAKE_SPARK_ID = 9;
-        public static final int EXTENDER_SPARK_ID = 10;
+        public static final int INTAKE_SPARK_ID = -9;
+        public static final int EXTENDER_SPARK_ID = -10;
     }
   
     public static final class ShooterConstants {
+        /* Motor IDs */
         public static final int SHOOTER_FALCON_ID = 8;
+        public static final int SHOOTER_ANGLE_ADJUST_ID = 9;
+        public static final int SHOOTER_ROTATE_ID = 10;
 
         /* PID Constants Shooter */
         public static final int SHOOTER_SLOT_IDX = 0;
         public static final int SHOOTER_PID_LOOP_IDX = 1;
         public static final int SHOOTER_TIMEOUT_MS = 30;
-        public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
-        
+        public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
+        public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
+        public static final double SHOOTER_TURRET_MIN = -1.0;
         public static final double ENCODER_TICKS_PER_REV = 2048;
+        public static final double NEO_UNITS_PER_REV = 42;
+        public static final double DEGREES_PER_ROT = 360;
     }
     
     public static final class ClimberConstants {
-        public static final int CLIMBER_SPARK_ID = 10;
+        public static final int CLIMBER_SPARK_ID = -1;
     }
   
     public static final class LevelerConstants {
@@ -91,13 +97,30 @@ public final class Constants {
     }
   
     public static final class StorageConstants {
-        public static final int STORAGE_CAN_ID = -1;
+        public static final int STORAGE_CAN_ID = 10;
+
+        /* Ball Indexes */
         public static final int BEAM_SENSOR_DIO_0 = 0;
         public static final int BEAM_SENSOR_DIO_1 = 1;
         public static final int BEAM_SENSOR_DIO_2 = 2;
         public static final int BEAM_SENSOR_DIO_3 = 3;
         public static final int BEAM_SENSOR_DIO_4 = 4;
         public static final int BEAM_SENSOR_DIO_5 = 5;
+
+        /* PID Values */
+        public static final int SLOT_DISTANCE = 0;
+
+        /* PID Indexes */
+        public static final int PID_PRIMARY = 0;
+
+        /* PID Gains */
+        public static final double storP = 0.1;
+        public static final double storI = 1e-4;
+        public static final double storD = 1.0;
+        public static final double storIz = 0.0;
+        public static final double storF = 0.0;
+        public static final double storkmaxOutput = 1.0;
+        public static final double storkminOutput = -1.0;
     }
   
     public static final class LEDConstants {

src/main/java/frc4388/robot/Gains.java

@@ -17,6 +17,8 @@ public class Gains {
     public double m_kF;
     public int m_kIzone;
     public double m_kPeakOutput;
+    public double m_kmaxOutput;
+    public double m_kminOutput;
 
     /**
      * Creates Gains object for PIDs

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

@@ -17,6 +17,9 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveWithJoystick;
+import frc4388.robot.commands.DriveStraightToPositionMM;
+import frc4388.robot.commands.DriveStraightToPositionPID;
+import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
 import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -71,7 +74,7 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
         // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // drives climber with input from triggers on the opperator controller
@@ -79,11 +82,13 @@ public class RobotContainer {
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the drum shooter in idle mode
-        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
+
+      
+        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox), m_robotShooter));
         // drives the leveler with an axis input from the driver controller
-        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
+    //    m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
         // runs storage motor at 50 percent
-        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
+    //    m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
     }
 
     /**
@@ -94,11 +99,8 @@ public class RobotContainer {
     */
     private void configureButtonBindings() {
         /* Driver Buttons */
-        // test command to spin the robot while pressing A on the driver controller
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whileHeld(() -> m_robotDrive.driveWithInput(0, 1), m_robotDrive);
-        //new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-        //    .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
+            .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 144));
 
         /* Operator Buttons */
         // activates "Lit Mode"
@@ -114,15 +116,24 @@ public class RobotContainer {
         
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
             .whenPressed(new RunExtenderOutIn(m_robotIntake));
+      
         /* PID Test Command */
         // runs velocity PID while driving straight
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
             .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
             .whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+        
+        //new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
+        //    .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
       
         // resets the yaw of the pigeon
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
-            .whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
+            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
+      
+        // turn 45 degrees
+        new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
+            .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
+
 
         // sets solenoids into high gear
         new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
@@ -135,6 +146,10 @@ public class RobotContainer {
         // interrupts any running command
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
             .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+
+        /* Storage Neo PID Test */
+        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+            .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
     }
       
     /**

src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java

@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveStraightToPositionMM extends CommandBase {
+  Drive m_drive;
+  double m_targetPosIn;
+  double m_targetPosOut;
+  double m_targetGyro;
+  boolean isGoneFast;
+  
+  /**
+   * Creates a new DriveToDistancePID.
+   * @param subsystem drive subsystem
+   * @param targetPos distance to travel in inches
+   */
+  public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
+    addRequirements(m_drive);
+    //SmartDashboard.putNumber("Distance Target Inches", targetPos);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    System.err.println("PID START \n | \n |");
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
+    isGoneFast = false;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
+    //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+    //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
+    m_drive.runMotionMagicPID(m_targetPosOut, m_targetGyro);
+  }
+
+  // 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() {
+    if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && isGoneFast){
+      return true;
+    } else {
+      if (m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100) {
+        isGoneFast = true;
+      }
+      return false;
+    }
+  }
+}

src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java

@@ -14,8 +14,10 @@ import frc4388.robot.subsystems.Drive;
 
 public class DriveStraightToPositionPID extends CommandBase {
   Drive m_drive;
-  double m_targetPos;
+  double m_targetPosIn;
+  double m_targetPosOut;
   double m_targetGyro;
+  int i;
   
   /**
    * Creates a new DriveToDistancePID.
@@ -25,22 +27,27 @@ public class DriveStraightToPositionPID extends CommandBase {
   public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
     addRequirements(m_drive);
-    SmartDashboard.putNumber("Distance Target Inches", targetPos);
+    //SmartDashboard.putNumber("Distance Target Inches", targetPos);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    //System.err.println("PID START \n | \n |");
     m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
+    i = 0;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
-    m_drive.runDriveStraightPositionPID(m_targetPos, m_targetGyro);
+    //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
+    //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
+    //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
+    m_drive.runDriveStraightPositionPID(m_targetPosOut, m_targetGyro);
   }
 
   // Called once the command ends or is interrupted.
@@ -51,9 +58,11 @@ public class DriveStraightToPositionPID extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_targetPos) < 500){
+    if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && i > 5){
       return true;
     } else {
+      i++;
+      //System.err.println(i);
       return false;
     }
   }

src/main/java/frc4388/robot/commands/DriveWithJoystickAuxPID.java

@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickAuxPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+
+  /**
+   * Creates a new DriveWithJoystickAuxPID.
+   */
+  public DriveWithJoystickAuxPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+    if (moveInput >= 0){
+      moveOutput = -Math.cos(1.571*moveInput)+1;
+    } else {
+      moveOutput = Math.cos(1.571*moveInput)-1;
+    }
+
+    m_targetGyro += 2 * steerInput * deltaTime;
+
+    m_targetGyro = MathUtil.clamp(m_targetGyro, 
+                                  currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                  currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+
+    m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+
+    System.err.println("Target: " + m_targetGyro);
+    System.err.println("Current: " + currentGyro);
+    System.err.println();
+  }
+
+  // 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;
+  }
+}

src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java

@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+  boolean isAuxPIDEnabled = false;
+
+  /**
+   * Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
+   * Applies a curved ramp to the input from the controllers to make the robot less "touchy".
+   * Also uses PIDs to keep the robot on course when given a "dead" or 0 input.
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public DriveWithJoystickUsingDeadAssistPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.    
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    double steerOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+
+    /* If AuxPID is enabled, then update using the steer input */
+    if (isAuxPIDEnabled) {
+      m_targetGyro += 2 * steerInput * deltaTime;
+  
+      m_targetGyro = MathUtil.clamp(  m_targetGyro, 
+                                      currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                      currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+    }
+    /* Otherwise set target angle to current angle (prevents buildup of gyro error) */
+    else {
+      m_targetGyro = currentGyro;
+    }
+
+    /* If move stick is being used */
+    if (moveInput != 0) {
+      /* Curves the moveInput to be slightly more gradual at first */
+      if (moveInput >= 0) {
+        moveOutput = -Math.cos(1.571*moveInput)+1;
+      } else {
+        moveOutput = Math.cos(1.571*moveInput)-1;
+      }
+
+      /* If steer stick is being used. */
+      if (steerInput != 0) {
+        double cosMultiplier = .45;
+        double deadzone = .2;
+        /* Curves the steer output to be similarily gradual */
+        if (steerInput > 0){
+          steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
+        } else {
+          steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
+        }
+        m_drive.driveWithInput(moveOutput, steerOutput);
+        isAuxPIDEnabled = false;
+      }
+      /* If only the move stick is being used */
+      else {
+        m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+        isAuxPIDEnabled = true;
+      }
+    }
+    /* If the move stick is not being used */
+    else {
+      m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
+      isAuxPIDEnabled = true;
+    }
+  }
+
+  // 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;
+  }
+}

src/main/java/frc4388/robot/commands/PlaySongDrive.java

@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class PlaySongDrive extends CommandBase {
+  private Drive m_drive;
+  
+  /**
+   * Creates a new PlaySongDrive.
+   */
+  public PlaySongDrive(Drive subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_drive.m_rightFrontMotor.set(0);
+    m_drive.m_leftFrontMotor.set(0);
+    m_drive.m_rightBackMotor.set(0);
+    m_drive.m_leftBackMotor.set(0);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_drive.playSong();
+    //System.err.println("Playing " + m_drive.m_orchestra.isPlaying());
+    //m_drive.m_driveTrain.feedWatchdog();
+  }
+
+  // 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;
+  }
+}

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

@@ -10,6 +10,7 @@ package frc4388.robot.subsystems;
 import com.revrobotics.CANDigitalInput;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -17,18 +18,20 @@ import frc4388.robot.Constants.ClimberConstants;
 
 public class Climber extends SubsystemBase {
   CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
-  CANDigitalInput m_forwardLimit, m_reverseLimit;
+  CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
   /**
    * Creates a new Climber.
    */
   public Climber() {
     m_climberMotor.restoreFactoryDefaults();
-    
-    m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
-    m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
 
-    m_forwardLimit.enableLimitSwitch(false);
-    m_reverseLimit.enableLimitSwitch(false);
+    m_climberMotor.setIdleMode(IdleMode.kBrake);
+    m_climberMotor.setInverted(false);
+    
+    m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_climberForwardLimit.enableLimitSwitch(false);
+    m_climberReverseLimit.enableLimitSwitch(false);
   }
 
   @Override

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

@@ -7,6 +7,17 @@
 
 package frc4388.robot.subsystems;
 
+import java.io.File;
+import java.io.FilenameFilter;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
+import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.DemandType;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.FollowerType;
@@ -17,11 +28,15 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
 import com.ctre.phoenix.motorcontrol.StatusFrame;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.music.Orchestra;
 import com.ctre.phoenix.sensors.PigeonIMU;
 import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 
+import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -41,6 +56,7 @@ public class Drive extends SubsystemBase {
   public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
   public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
   public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
+  public Orchestra m_orchestra = new Orchestra();
 
   public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
 
@@ -50,6 +66,8 @@ public class Drive extends SubsystemBase {
   public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
   public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
 
+  SendableChooser<String> m_songChooser = new SendableChooser<String>();
+
   public DoubleSolenoid speedShift;
 
   /**
@@ -79,7 +97,7 @@ public class Drive extends SubsystemBase {
     /* flip input so forward becomes back, etc */
     m_leftFrontMotor.setInverted(false);
     m_rightFrontMotor.setInverted(true);
-    m_driveTrain.setRightSideInverted(false);
+    //m_driveTrain.setRightSideInverted(false);
     m_leftBackMotor.setInverted(InvertType.FollowMaster);
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
@@ -104,6 +122,15 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);    
 
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
+    m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
+
     /* Setup Sensors for WPI_TalonFXs */
     m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -134,8 +161,8 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
 
     /* Diff Signal */
-    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
 
     /* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
 		m_rightFrontMotor.configSelectedFeedbackSensor(	FeedbackDevice.SensorDifference,
@@ -225,8 +252,22 @@ public class Drive extends SubsystemBase {
 		 * true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
 		 */
     m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
+
+    m_orchestra.addInstrument(m_leftBackMotor);
+    m_orchestra.addInstrument(m_rightFrontMotor);
+    m_orchestra.addInstrument(m_rightBackMotor);
+    m_orchestra.addInstrument(m_leftFrontMotor);
+
+    File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
+    System.err.println(songsDir.getPath());
+    String[] songsStrings = songsDir.list();
+    for (String songString : songsStrings){
+      m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
+    }
+    Shuffleboard.getTab("Songs").add(m_songChooser);
   }
 
+  String currentSong = "";
   @Override
   public void periodic() {
     try {
@@ -254,6 +295,11 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
       SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
 
+      if (currentSong != m_songChooser.getSelected()){
+        currentSong = m_songChooser.getSelected();
+        selectSong(currentSong);
+        System.err.println(currentSong);
+      }
     } catch (Exception e) {
       System.err.println("Error in the Drive Subsystem");
       //e.printStackTrace(System.err);
@@ -319,14 +365,29 @@ public class Drive extends SubsystemBase {
   }
 
   /**
-   * Add your docs here.
+   * Runs percent output control on the moving and steering of the drive train,
+   * using the Differential Drive class to manage the two inputs
    */
   public void driveWithInput(double move, double steer){
-    m_driveTrain.arcadeDrive(move, steer);
+    //m_driveTrain.arcadeDrive(move, steer);
   }
 
   /**
-   * Runs a position PID while driving straight (has not been tested)
+   * Runs percent output control on the drive train while using an AUX PID for rotation
+   * @param targetPos The position to drive to in units
+   * @param targetGyro The angle to drive at in units
+   */
+  public void driveWithInputAux(double move, double targetGyro) {
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
+
+    m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro);
+    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
+
+    m_driveTrain.feedWatchdog();
+  }
+
+  /**
+   * Runs a position PID while driving straight
    * @param targetPos The position to drive to in units
    * @param targetGyro The angle to drive at in units
    */
@@ -334,11 +395,10 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
 
-    targetPos *= 2;
     m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
 
-    m_driveTrain.feedWatchdog();
+    //m_driveTrain.feedWatchdog();
   }
 
   /**
@@ -349,27 +409,26 @@ public class Drive extends SubsystemBase {
   public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
-
-    targetVel *= 2;
     m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
 
-    m_driveTrain.feedWatchdog();
+    //m_driveTrain.feedWatchdog();
   }
 
   /**
-   * Runs motion magic PID while driving straight (has not been tested)
+   * Runs motion magic PID while driving straight
    * @param targetPos The position to drive to in units
    * @param targetGyro The angle to drive at in units
    */
   public void runMotionMagicPID(double targetPos, double targetGyro){
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
-    
-    m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
+
+    m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
-    
+
     m_driveTrain.feedWatchdog();
+
   }
 
   /**
@@ -420,6 +479,21 @@ public class Drive extends SubsystemBase {
     m_pigeon.setAccumZAngle(0);
   }
 
+  /**
+   * Plays Music!
+   */
+  public void playSong() {
+    m_orchestra.play();
+  }
+
+  /**
+   * Selects a song to play!
+   * @param song The name of the song to be played
+   */
+  public void selectSong(String song) {
+    SmartDashboard.putString("Selected Song", song);
+    m_orchestra.loadMusic(song);
+  }
   /**
    * Set to high or low gear based on boolean state, true = high, false = low
    * @param state Chooses between high or low gear

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

@@ -26,7 +26,8 @@ public class Leveler extends SubsystemBase {
    */
   public Leveler() {
     m_levelerMotor.restoreFactoryDefaults();
-    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+
+    m_levelerMotor.setIdleMode(IdleMode.kBrake);
     m_levelerMotor.setInverted(false);
   }
 

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

@@ -11,28 +11,56 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANEncoder;
+import com.revrobotics.CANPIDController;
+import com.revrobotics.ControlType;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Gains;
-import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.ShooterConstants;
+import frc4388.utility.controller.IHandController;
 
 public class Shooter extends SubsystemBase {
 
   public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+  public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
+  public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
 
-  public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
+
+  public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
+  public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
+  public static Shooter m_shooter;
+  public static IHandController m_controller;
+
+
+  // Configure PID Controllers
+  CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
+  CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
+
+  CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
+  CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
 
   double velP;
-  /**
+  double input;
+  
+  /*
    * Creates a new Shooter subsystem.
    */
   public Shooter() {
+    //Testing purposes reseting gyros
+    resetGyroAngleAdj();
+    resetGyroShooterRotate();
+
     m_shooterFalcon.configFactoryDefault();
-
+    m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
-
-    m_shooterFalcon.setInverted(true);
+    m_shooterFalcon.setInverted(false);
     
     setShooterGains();
 
@@ -64,10 +92,10 @@ public class Shooter extends SubsystemBase {
    */
   public void setShooterGains() {
     m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
-    m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
   }
   /**
    * Runs drum shooter velocity PID.
@@ -87,4 +115,58 @@ public class Shooter extends SubsystemBase {
       m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }
+
+
+  public void runShooterWithInput(IHandController controller) {
+    m_controller = controller;
+    input = m_controller.getLeftXAxis();
+    System.err.println(input);
+    m_shooterRotateMotor.set(input);
+  }
+
+  /* Angle Adjustment PID Control */
+  public void runAngleAdjustPID(double targetAngle)
+  {
+    // Set PID Coefficients
+    m_angleAdjustPIDController.setP(m_shooterTurretGains.m_kP);
+    m_angleAdjustPIDController.setI(m_shooterTurretGains.m_kI);
+    m_angleAdjustPIDController.setD(m_shooterTurretGains.m_kD);
+    m_angleAdjustPIDController.setIZone(m_shooterTurretGains.m_kIzone);
+    m_angleAdjustPIDController.setFF(m_shooterTurretGains.m_kF);
+    m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* Rotate Shooter PID Control */
+  public void runshooterRotatePID(double targetAngle)
+  {
+    // Set PID Coefficients
+    m_shooterRotatePIDController.setP(m_shooterTurretGains.m_kP);
+    m_shooterRotatePIDController.setI(m_shooterTurretGains.m_kI);
+    m_shooterRotatePIDController.setD(m_shooterTurretGains.m_kD);
+    m_shooterRotatePIDController.setFF(m_shooterTurretGains.m_kF);
+    m_shooterRotatePIDController.setIZone(m_shooterTurretGains.m_kIzone);
+    m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* For Testing Purposes, reseting gyro for angle adjuster */
+  public void resetGyroAngleAdj()
+  {
+    m_angleEncoder.setPosition(0);
+  }
+
+  /* For Testing Purposes, reseting gyro for shooter rotation */
+  public void resetGyroShooterRotate()
+  {
+    m_shooterRotateEncoder.setPosition(0);
+  }
 }

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

@@ -9,11 +9,14 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANEncoder;
+import com.revrobotics.CANPIDController;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.ControlType;
 import com.revrobotics.SparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc4388.robot.Constants.StorageConstants;
@@ -21,10 +24,17 @@ import frc4388.robot.Constants.StorageConstants;
 public class Storage extends SubsystemBase {
   private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
   private DigitalInput[] m_beamSensors = new DigitalInput[6];
+
+  CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
+
+  CANEncoder m_encoder = m_storageMotor.getEncoder();
+
   /**
    * Creates a new Storage.
    */
   public Storage() {
+    resetEncoder();
+
     m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
     m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
     m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
@@ -40,17 +50,36 @@ public class Storage extends SubsystemBase {
 
   /**
    * Runs storage motor
+   * 
    * @param input the voltage to run motor at
    */
-  public void runStorage(double input) {
+  public void runStorage(final double input) {
     m_storageMotor.set(input);
-    boolean beam_on = m_beamSensors[0].get();
+    final boolean beam_on = m_beamSensors[0].get();
 
-    if (beam_on) {
-      System.err.println("Beam on");
-    } else {
-      System.err.println("Beam off");
-    }
-    
+  }
+
+  public void resetEncoder()
+  {
+    m_encoder.setPosition(0);
+  }
+
+  /* Storage PID Control */
+  public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
+  {
+    // Set PID Coefficients
+    m_storagePIDController.setP(kP);
+    m_storagePIDController.setI(kI);
+    m_storagePIDController.setD(kD);
+    m_storagePIDController.setIZone(kIz);
+    m_storagePIDController.setFF(kF);
+    m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
+
+    m_storagePIDController.setReference(targetPos, ControlType.kPosition);
+  }
+
+  public void getEncoderPos()
+  {
+    m_encoder.getPosition();
   }
 }