diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index f9bba13..5bda228 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -206,7 +206,6 @@ public class RobotContainer {
         //Calibrates turret and hood
         new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
             .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim));
-
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/auto/Wait.java b/src/main/java/frc4388/robot/commands/auto/Wait.java
index 9280310..2b06ae3 100644
--- a/src/main/java/frc4388/robot/commands/auto/Wait.java
+++ b/src/main/java/frc4388/robot/commands/auto/Wait.java
@@ -46,11 +46,11 @@ public class Wait extends CommandBase {
   public void execute() {
 
     if (counter == 0) {
-      SmartDashboard.putNumber("Wait Coordinates" + m_waitNum, m_currentTime);
+      //SmartDashboard.putNumber("Wait Coordinates" + m_waitNum, m_currentTime);
     }
 
     m_currentTime = System.currentTimeMillis();
-    SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
+    //SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
 
     counter ++;
   }
diff --git a/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java b/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
index f72a223..a2be80e 100644
--- a/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
+++ b/src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
@@ -61,7 +61,7 @@ public class DriveStraightToPositionMM extends CommandBase {
     //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);
-    SmartDashboard.putBoolean("MM Run", true);
+    //SmartDashboard.putBoolean("MM Run", true);
     i++;
   }
 
@@ -74,7 +74,7 @@ public class DriveStraightToPositionMM extends CommandBase {
   @Override
   public boolean isFinished() {
     if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && isGoneFast){
-      SmartDashboard.putBoolean("MM Run", false);
+      //SmartDashboard.putBoolean("MM Run", false);
       return true;
     } else {
       if ((m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100)) {
diff --git a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java
index 3a958a9..6444141 100644
--- a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java
+++ b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java
@@ -59,9 +59,9 @@ public class DriveWithJoystickAuxPID extends CommandBase {
 
     m_drive.driveWithInputAux(moveOutput, m_targetGyro);
 
-    System.err.println("Target: " + m_targetGyro);
-    System.err.println("Current: " + currentGyro);
-    System.err.println();
+    //System.err.println("Target: " + m_targetGyro);
+    //System.err.println("Current: " + currentGyro);
+    //System.err.println();
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickDriveStraight.java b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickDriveStraight.java
index 345b160..56d2f96 100644
--- a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickDriveStraight.java
+++ b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickDriveStraight.java
@@ -106,12 +106,12 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
       steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steer) - cosMultiplier;
     }
     m_drive.driveWithInput(move, steerOutput);
-    System.out.println("Driving With Input");
+    //System.out.println("Driving With Input");
   }
 
   private void runDriveStraight(double move) {
     m_drive.driveWithInputAux(move * 3/4, m_targetGyro);
-    System.out.println("Driving Straight with Target: " + m_targetGyro);
+    //System.out.println("Driving Straight with Target: " + m_targetGyro);
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java
index 3b2ef73..13523af 100644
--- a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java
+++ b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java
@@ -132,12 +132,12 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
     }
 
     m_drive.driveWithInput(move, steerOutput);
-    System.out.println("Driving With Input");
+    //System.out.println("Driving With Input");
   }
 
   private void runDriveStraight(double move) {
     m_drive.driveWithInputAux(move * 3/4, m_targetGyro);
-    System.out.println("Driving Straight with Target: " + m_targetGyro);
+    //System.out.println("Driving Straight with Target: " + m_targetGyro);
   }
 
   private void runStoppedTurn(double steer) {
@@ -158,7 +158,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
     } else {
       m_drive.driveWithInputAux(0, m_targetGyro);
     }
-    System.out.println("Turning with Target: " + m_targetGyro);
+    //System.out.println("Turning with Target: " + m_targetGyro);
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java b/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
index b9f7d35..e0999e6 100644
--- a/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
+++ b/src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
@@ -50,8 +50,8 @@ public class TurnDegrees extends CommandBase {
 
     m_drive.runTurningPID(m_targetAngleTicksOut);
 
-    SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
-    SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
+    //SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
+    //SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
 
     i++;
   }
diff --git a/src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java b/src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java
index 980c9ee..405530d 100644
--- a/src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java
+++ b/src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java
@@ -33,8 +33,8 @@ public class HoodPositionPID extends CommandBase {
     /*double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
     double b = ShooterConstants.HOOD_CONVERT_B;
     firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
-    SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
-    SmartDashboard.putNumber("Fire Angle", firingAngle);
+    //SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
+    //SmartDashboard.putNumber("Fire Angle", firingAngle);
     m_shooter.runAngleAdjustPID(firingAngle);
   }
 
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
index 8411aeb..f806eb4 100644
--- a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
@@ -36,8 +36,8 @@ public class ShooterVelocityControlPID extends CommandBase {
   public void execute() {
     m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
     m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
-    SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
-    SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
+    //SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
+    //SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 300359d..f040c4f 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -733,16 +733,16 @@ public class Drive extends SubsystemBase {
       //SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
       //SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
       //SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
-      SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
-      SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
+      //SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
+      //SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
       //SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
       //SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
 
       double leftRPM = ticksToInches(m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
       double rightRPM = ticksToInches(m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
 
-      SmartDashboard.putNumber("Left Motor RPM", leftRPM);
-      SmartDashboard.putNumber("Right Motor RPM", rightRPM);
+      //SmartDashboard.putNumber("Left Motor RPM", leftRPM);
+      //SmartDashboard.putNumber("Right Motor RPM", rightRPM);
 
       //SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
       //SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
@@ -751,8 +751,8 @@ public class Drive extends SubsystemBase {
       
       //SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
       //SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
-      SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
-      SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
+      //SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
+      //SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
 
       /*SmartDashboard.putNumber("Right Front Velocity", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
       SmartDashboard.putNumber("Left Front Velocity", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
@@ -760,23 +760,23 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putNumber("Left Back Velocity", m_leftBackMotor.getSensorCollection().getIntegratedSensorVelocity());
       */
 
-      SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
-      SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
+      //SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
+      //SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
 
-      SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
-      SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
-      SmartDashboard.putNumber("Right Back Motor Current Supply", m_rightBackMotor.getSupplyCurrent());
-      SmartDashboard.putNumber("Left Back Motor Current Supply", m_leftBackMotor.getSupplyCurrent());
+      //SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
+      //SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
+      //SmartDashboard.putNumber("Right Back Motor Current Supply", m_rightBackMotor.getSupplyCurrent());
+      //SmartDashboard.putNumber("Left Back Motor Current Supply", m_leftBackMotor.getSupplyCurrent());
       
-      SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
-      SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getStatorCurrent());
-      SmartDashboard.putNumber("Right Back Motor Current Stator ", m_rightBackMotor.getStatorCurrent());
-      SmartDashboard.putNumber("Left Back Motor Current Stator", m_leftBackMotor.getStatorCurrent());
+      //SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
+      //SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getStatorCurrent());
+      //SmartDashboard.putNumber("Right Back Motor Current Stator ", m_rightBackMotor.getStatorCurrent());
+      //SmartDashboard.putNumber("Left Back Motor Current Stator", m_leftBackMotor.getStatorCurrent());
 
       //SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
-      SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+      //SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
       //SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
-      SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
+      //SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
       //SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
       //SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
 
diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java
index 6ef70e5..cbad21c 100644
--- a/src/main/java/frc4388/robot/subsystems/LED.java
+++ b/src/main/java/frc4388/robot/subsystems/LED.java
@@ -50,6 +50,6 @@ public class LED extends SubsystemBase {
 
   @Override
   public void periodic(){
-    SmartDashboard.putNumber("LED", currentLED);
+    //SmartDashboard.putNumber("LED", currentLED);
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index b4f1403..e16cabe 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -78,15 +78,15 @@ public class Shooter extends SubsystemBase {
 
     m_shooterTable = new ShooterTables();
 
-    SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
-    SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
-    SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
-    SmartDashboard.putNumber("CSV 500", m_shooterTable.getVelocity(500));
+    //SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
+    //SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
+    //SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
+    //SmartDashboard.putNumber("CSV 500", m_shooterTable.getVelocity(500));
 
-    SmartDashboard.putNumber("CSV A -30", m_shooterTable.getAngleDisplacement(-30));
-    SmartDashboard.putNumber("CSV A 10", m_shooterTable.getAngleDisplacement(10));
-    SmartDashboard.putNumber("CSV A 5", m_shooterTable.getAngleDisplacement(5));
-    SmartDashboard.putNumber("CSV A 30", m_shooterTable.getAngleDisplacement(30));
+    //SmartDashboard.putNumber("CSV A -30", m_shooterTable.getAngleDisplacement(-30));
+    //SmartDashboard.putNumber("CSV A 10", m_shooterTable.getAngleDisplacement(10));
+    //SmartDashboard.putNumber("CSV A 5", m_shooterTable.getAngleDisplacement(5));
+    //SmartDashboard.putNumber("CSV A 30", m_shooterTable.getAngleDisplacement(30));
 
     m_hoodUpLimit = m_angleAdjustMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
     m_hoodDownLimit = m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
@@ -106,8 +106,8 @@ public class Shooter extends SubsystemBase {
     try{
     SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity());
 
-    SmartDashboard.putNumber("Fire Velocity From CSV", m_fireVel);
-    SmartDashboard.putNumber("Fire Angle From CSV", m_fireAngle);
+    SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
+    SmartDashboard.putNumber("Fire Angle CSV", m_fireAngle);
 
     //SmartDashboard.putNumber("Hood Position", m_shooter.getAnglePosition());
     }
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
index a014544..67d515d 100644
--- a/src/main/java/frc4388/robot/subsystems/Storage.java
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -77,8 +77,8 @@ public class Storage extends SubsystemBase {
     m_storagePIDController.setFF(storageGains.m_kF);
     m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kmaxOutput);
 
-    SmartDashboard.putNumber("Storage Position PID Target", targetPos);
-    SmartDashboard.putNumber("Storage Position Pos", getEncoderPos());
+    //SmartDashboard.putNumber("Storage Position PID Target", targetPos);
+    //SmartDashboard.putNumber("Storage Position Pos", getEncoderPos());
     m_storagePIDController.setReference(targetPos, ControlType.kPosition);
   }
 
diff --git a/src/main/java/frc4388/utility/ShooterTables.java b/src/main/java/frc4388/utility/ShooterTables.java
index dc7fa83..85244ce 100644
--- a/src/main/java/frc4388/utility/ShooterTables.java
+++ b/src/main/java/frc4388/utility/ShooterTables.java
@@ -85,12 +85,12 @@ public class ShooterTables {
         } catch (IOException e) {
             e.printStackTrace();
         }
-        SmartDashboard.putNumber("Row 2 Column 1", m_angle[1][0]);
-        SmartDashboard.putNumber("Row 4 Column 2", m_angle[3][1]);
-        SmartDashboard.putNumber("m_distanceLength", m_distanceLength);
-        SmartDashboard.putNumber("Distance last row 0", m_distance[m_distanceLength-1][0]);
-        SmartDashboard.putNumber("Distance last row 1", m_distance[m_distanceLength-1][1]);
-        SmartDashboard.putNumber("Distance last row 2", m_distance[m_distanceLength-1][2]);
+        //SmartDashboard.putNumber("Row 2 Column 1", m_angle[1][0]);
+        //SmartDashboard.putNumber("Row 4 Column 2", m_angle[3][1]);
+        //SmartDashboard.putNumber("m_distanceLength", m_distanceLength);
+        //SmartDashboard.putNumber("Distance last row 0", m_distance[m_distanceLength-1][0]);
+        //SmartDashboard.putNumber("Distance last row 1", m_distance[m_distanceLength-1][1]);
+        //SmartDashboard.putNumber("Distance last row 2", m_distance[m_distanceLength-1][2]);
     }
 
     public double getHood(double distance) { //Rotations of motor