From a767c5c78e0dcac0eafc0618b93afe38a531dac3 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 25 Jan 2022 17:27:14 -0800
Subject: [PATCH 01/16] Day 2 Romi

---
 .../java/com/github/mittyrobotics/Robot.java  | 49 +++++++++++++++++--
 1 file changed, 44 insertions(+), 5 deletions(-)

diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 63ba14c..6abd14c 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -1,9 +1,6 @@
 package com.github.mittyrobotics;
 
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.Spark;
-import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.*;
 import edu.wpi.first.wpilibj.controller.PIDController;
 
 
@@ -13,6 +10,13 @@
  */
 public class Robot extends TimedRobot {
 
+    Spark SparkLeft, SparkRight;
+    DigitalInput digitalInput1;
+    DigitalInput input2;
+    DigitalInput input3;
+    DigitalInput input4;
+    XboxController controller;
+    RomiGyro gyro;
     //Runs when the robot is first started up and should be used for any initialization code
     /*
      *  INITIALIZE CLASSES HERE
@@ -22,6 +26,15 @@ public class Robot extends TimedRobot {
 
     @Override
     public void robotInit() {
+        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
+        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
+        SparkLeft.setInverted(true);
+        digitalInput1 = new DigitalInput(0);
+        input2 = new DigitalInput(1);
+        input3 = new DigitalInput(2);
+        input4 = new DigitalInput(3);
+        controller =  new XboxController(0);
+        gyro = new RomiGyro();
 
 
     }
@@ -32,7 +45,33 @@ public void robotInit() {
      */
     @Override
     public void teleopPeriodic() {
-
+        if(digitalInput1.get()) {
+            SparkLeft.set(0);
+            SparkRight.set(1);
+        }
+        else if(input2.get()){
+            SparkLeft.set(1);
+            SparkRight.set(0);
+        }
+        else if(input3.get()){
+            SparkLeft.set(1);
+            SparkRight.set(1);
+        }
+        else if(input4.get()) {
+            SparkLeft.set(-1);
+            SparkRight.set(-1);
+        }
+/*        if(controller.getAButton()){
+            while(gyro.getAngleZ()<=45){
+                SparkLeft.set(-0.5);
+                SparkRight.set(0.5);
+            }
+        }
+        */
+        if(controller.getAButton() && gyro.getAngleZ() <= 45){
+            SparkLeft.set(-0.5);
+            SparkRight.set(0.5);
+        }
     }
 
     //Runs when antonomous mode (robot runs on its own) first activated via the desktop application

From 73b66741cc3b0ea87ab2c21b75c51b3f3f116422 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 15 Feb 2022 15:38:21 -0800
Subject: [PATCH 02/16] Motion Profiles

---
 .idea/gradle.xml                              |  1 +
 .idea/jarRepositories.xml                     |  5 +++++
 .idea/misc.xml                                |  2 +-
 .idea/modules.xml                             |  8 +++++++
 .idea/runConfigurations.xml                   | 10 +++++++++
 .idea/tko-romi.iml                            | 12 ++++++++++
 .idea/workspace.xml                           | 17 +++++++++++++-
 .../java/com/github/mittyrobotics/Robot.java  | 22 ++++++++++++++++++-
 8 files changed, 74 insertions(+), 3 deletions(-)
 create mode 100644 .idea/modules.xml
 create mode 100644 .idea/runConfigurations.xml
 create mode 100644 .idea/tko-romi.iml

diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index ba1ec5c..611e7c8 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="GradleMigrationSettings" migrationVersion="1" />
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml
index 6febd6e..abf869c 100644
--- a/.idea/jarRepositories.xml
+++ b/.idea/jarRepositories.xml
@@ -26,5 +26,10 @@
       <option name="name" value="WPILocal" />
       <option name="url" value="file:$USER_HOME$/wpilib/2021/maven" />
     </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPILocal" />
+      <option name="name" value="WPILocal" />
+      <option name="url" value="file:/$PROJECT_DIR$/../../../../../Public/wpilib/2021/maven" />
+    </remote-repository>
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 3e79c5f..5821b2f 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -4,5 +4,5 @@
   <component name="FrameworkDetectionExcludesConfiguration">
     <file type="web" url="file://$PROJECT_DIR$" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" project-jdk-name="11" project-jdk-type="JavaSDK" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK" />
 </project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..5fc49aa
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/tko-romi.iml" filepath="$PROJECT_DIR$/.idea/tko-romi.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/runConfigurations.xml b/.idea/runConfigurations.xml
new file mode 100644
index 0000000..797acea
--- /dev/null
+++ b/.idea/runConfigurations.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="RunConfigurationProducerService">
+    <option name="ignoredProducers">
+      <set>
+        <option value="com.android.tools.idea.compose.preview.runconfiguration.ComposePreviewRunConfigurationProducer" />
+      </set>
+    </option>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/tko-romi.iml b/.idea/tko-romi.iml
new file mode 100644
index 0000000..394b345
--- /dev/null
+++ b/.idea/tko-romi.iml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module external.linked.project.id="tko-romi" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="GRADLE" external.system.module.group="" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/.gradle" />
+      <excludeFolder url="file://$MODULE_DIR$/build" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 682050b..334fa7d 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,8 +5,11 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
+      <change beforePath="$PROJECT_DIR$/.idea/gradle.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/gradle.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/jarRepositories.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/jarRepositories.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiGyro.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiGyro.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -81,4 +84,16 @@
   <component name="TypeScriptGeneratedFilesManager">
     <option name="version" value="3" />
   </component>
+  <component name="Vcs.Log.Tabs.Properties">
+    <option name="TAB_STATES">
+      <map>
+        <entry key="MAIN">
+          <value>
+            <State />
+          </value>
+        </entry>
+      </map>
+    </option>
+    <option name="oldMeFiltersMigrated" value="true" />
+  </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 6abd14c..1723244 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -1,7 +1,7 @@
 package com.github.mittyrobotics;
-
 import edu.wpi.first.wpilibj.*;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
 
 
 //Java automatically runs this class, and calls the various functions.
@@ -17,6 +17,8 @@ public class Robot extends TimedRobot {
     DigitalInput input4;
     XboxController controller;
     RomiGyro gyro;
+    boolean clicked;
+    boolean released;
     //Runs when the robot is first started up and should be used for any initialization code
     /*
      *  INITIALIZE CLASSES HERE
@@ -35,6 +37,12 @@ public void robotInit() {
         input4 = new DigitalInput(3);
         controller =  new XboxController(0);
         gyro = new RomiGyro();
+        clicked = controller.getAButtonPressed();
+        released = controller.getAButtonReleased();
+        TrapezoidProfile.State start = new TrapezoidProfile.State(0, 0);
+        TrapezoidProfile.State end = new TrapezoidProfile.State(1.0, 0);
+        TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
+        TrapezoidProfile profile = new TrapezoidProfile(constraints, end, start);
 
 
     }
@@ -45,6 +53,12 @@ public void robotInit() {
      */
     @Override
     public void teleopPeriodic() {
+        
+        TrapezoidProfile.State profileOutput = profile.calculate(2.0);
+
+        if(clicked==false){
+            clicked=false;
+        }
         if(digitalInput1.get()) {
             SparkLeft.set(0);
             SparkRight.set(1);
@@ -68,10 +82,16 @@ else if(input4.get()) {
             }
         }
         */
+        if(clicked){
+            SparkLeft.set(controller.getY(GenericHID.Hand.kLeft));
+            SparkRight.set(controller.getY(GenericHID.Hand.kRight));
+        }
         if(controller.getAButton() && gyro.getAngleZ() <= 45){
             SparkLeft.set(-0.5);
             SparkRight.set(0.5);
         }
+
+
     }
 
     //Runs when antonomous mode (robot runs on its own) first activated via the desktop application

From 0f44a1114eb24c9b2dba09a6fded87485ee478b1 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 15 Feb 2022 17:06:28 -0800
Subject: [PATCH 03/16] Subystems Code

---
 .idea/workspace.xml                           | 19 +++--
 .../com/github/mittyrobotics/DriveTrain.java  |  6 ++
 .../java/com/github/mittyrobotics/Robot.java  |  2 +-
 .../com/github/mittyrobotics/TankDrive.java   | 72 +++++++++++++++++++
 4 files changed, 94 insertions(+), 5 deletions(-)
 create mode 100644 src/main/java/com/github/mittyrobotics/DriveTrain.java
 create mode 100644 src/main/java/com/github/mittyrobotics/TankDrive.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 334fa7d..373496f 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,9 +5,8 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/gradle.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/gradle.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/jarRepositories.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/jarRepositories.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrain.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
@@ -29,13 +28,25 @@
         </task>
         <projects_view>
           <tree_state>
-            <expand />
+            <expand>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+              </path>
+            </expand>
             <select />
           </tree_state>
         </projects_view>
       </state>
     </system>
   </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="Class" />
+      </list>
+    </option>
+  </component>
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
diff --git a/src/main/java/com/github/mittyrobotics/DriveTrain.java b/src/main/java/com/github/mittyrobotics/DriveTrain.java
new file mode 100644
index 0000000..cb1752b
--- /dev/null
+++ b/src/main/java/com/github/mittyrobotics/DriveTrain.java
@@ -0,0 +1,6 @@
+package com.github.mittyrobotics;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class DriveTrain extends SubsystemBase {
+}
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 1723244..5f8745d 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -11,7 +11,7 @@
 public class Robot extends TimedRobot {
 
     Spark SparkLeft, SparkRight;
-    DigitalInput digitalInput1;
+        DigitalInput digitalInput1;
     DigitalInput input2;
     DigitalInput input3;
     DigitalInput input4;
diff --git a/src/main/java/com/github/mittyrobotics/TankDrive.java b/src/main/java/com/github/mittyrobotics/TankDrive.java
new file mode 100644
index 0000000..7910d28
--- /dev/null
+++ b/src/main/java/com/github/mittyrobotics/TankDrive.java
@@ -0,0 +1,72 @@
+package com.github.mittyrobotics;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class TankDrive extends CommandBase {
+
+    Spark SparkLeft, SparkRight;
+    DigitalInput input0;
+    DigitalInput input1;
+    DigitalInput input2;
+    DigitalInput input3;
+    XboxController controller;
+    RomiGyro gyro;
+    @Override
+    public void initialize() {
+        super.initialize();
+        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID);
+        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
+        SparkLeft.setInverted(true);
+        input0 = new DigitalInput(0);
+        input1 = new DigitalInput(1);
+        input2 = new DigitalInput(2);
+        input3 = new DigitalInput(3);
+        controller = new XboxController(0);
+        gyro = new RomiGyro();
+    }
+
+    @Override
+    public void execute() {
+        super.execute();
+        if(controller.getAButtonPressed()) {
+            if (input0.get()) {
+                //move left
+                SparkLeft.set(0);
+                SparkRight.set(1);
+            }
+            if (input1.get()) {
+                //move right
+                SparkLeft.set(1);
+                SparkRight.set(0);
+            }
+            if (input2.get()) {
+                //move forward
+                SparkLeft.set(1);
+                SparkRight.set(1);
+            }
+            if (input3.get()) {
+                SparkLeft.set(-1);
+                SparkRight.set(-1);
+            }
+        }
+        else{
+            while(gyro.getAngleX()<45){
+                SparkLeft.set(0.75);
+                SparkRight.set(0);
+            }
+        }
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        super.end(interrupted);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return super.isFinished();
+    }
+}
\ No newline at end of file

From 2feb660e5cb5c35fb1278fb00c53ec67e1609fc2 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Thu, 17 Feb 2022 15:43:03 -0800
Subject: [PATCH 04/16] Added Motionprofile code

---
 .idea/workspace.xml                           |  2 --
 .../java/com/github/mittyrobotics/Robot.java  | 26 +++++++++++++------
 2 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 373496f..660e16a 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,8 +5,6 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrain.java" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 5f8745d..522f2fe 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -23,8 +23,13 @@ public class Robot extends TimedRobot {
     /*
      *  INITIALIZE CLASSES HERE
      */
-
-
+    TrapezoidProfile.State start;
+    TrapezoidProfile.State end;
+    TrapezoidProfile.Constraints constraints;
+    TrapezoidProfile profile;
+    int counter;
+    PIDController control  = new PIDController(kp, ki, kd);
+    Encoder encoder;
 
     @Override
     public void robotInit() {
@@ -39,10 +44,11 @@ public void robotInit() {
         gyro = new RomiGyro();
         clicked = controller.getAButtonPressed();
         released = controller.getAButtonReleased();
-        TrapezoidProfile.State start = new TrapezoidProfile.State(0, 0);
-        TrapezoidProfile.State end = new TrapezoidProfile.State(1.0, 0);
-        TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
-        TrapezoidProfile profile = new TrapezoidProfile(constraints, end, start);
+         start = new TrapezoidProfile.State(0, 0);
+         end = new TrapezoidProfile.State(1.0, 0);
+         constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
+         profile = new TrapezoidProfile(constraints, end, start);
+         encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
 
 
     }
@@ -54,8 +60,12 @@ public void robotInit() {
     @Override
     public void teleopPeriodic() {
         
-        TrapezoidProfile.State profileOutput = profile.calculate(2.0);
-
+        TrapezoidProfile.State profileOutput = profile.calculate(0.02*counter);
+        control.setSetpoint(profileOutput.position);
+        double output = control.calculate(encoder.getDistance());
+        SparkLeft.set(output);
+        SparkRight.set(output);
+        counter++;
         if(clicked==false){
             clicked=false;
         }

From 37a6118db8d9850d3607ac3abec4ccdb12df456a Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 22 Feb 2022 16:40:29 -0800
Subject: [PATCH 05/16] OI Update

---
 .idea/workspace.xml                           |  3 +++
 .../com/github/mittyrobotics/DriveTrain.java  | 26 +++++++++++++++++++
 .../java/com/github/mittyrobotics/OI.java     | 20 ++++++++++++++
 .../java/com/github/mittyrobotics/Robot.java  | 22 +++++++++-------
 .../com/github/mittyrobotics/TankDrive.java   | 21 ++++++++++++---
 5 files changed, 78 insertions(+), 14 deletions(-)
 create mode 100644 src/main/java/com/github/mittyrobotics/OI.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 660e16a..ed63ed5 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,8 +5,11 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/OI.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrain.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrain.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
diff --git a/src/main/java/com/github/mittyrobotics/DriveTrain.java b/src/main/java/com/github/mittyrobotics/DriveTrain.java
index cb1752b..84c1334 100644
--- a/src/main/java/com/github/mittyrobotics/DriveTrain.java
+++ b/src/main/java/com/github/mittyrobotics/DriveTrain.java
@@ -1,6 +1,32 @@
 package com.github.mittyrobotics;
 
+import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class DriveTrain extends SubsystemBase {
+
+    public static DriveTrain instance = null;
+    public static DriveTrain getInstance(){
+        if(instance==null){
+            instance = new DriveTrain();
+        }
+        return instance;
+    }
+    Spark sparkLeft, sparkRight;
+
+    public void initHardware(){
+        //initialize stuff here
+        sparkLeft = new Spark(Constants.LEFT_MOTOR_ID);
+        sparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
+    }
+    public void setMotors(double val){
+        sparkLeft.set(val);
+        sparkRight.set(val);
+    }
+    public void setSparkLeft(double val){
+        sparkLeft.set(val);
+    }
+    public void setSparkRight(double val){
+        sparkRight.set(val);
+    }
 }
diff --git a/src/main/java/com/github/mittyrobotics/OI.java b/src/main/java/com/github/mittyrobotics/OI.java
new file mode 100644
index 0000000..88c51f1
--- /dev/null
+++ b/src/main/java/com/github/mittyrobotics/OI.java
@@ -0,0 +1,20 @@
+package com.github.mittyrobotics;
+import edu.wpi.first.wpilibj.XboxController;
+public class OI {
+    private static OI instance;
+    private XboxController xboxController;
+
+    public static OI getInstance(){
+        if(instance == null){
+            instance = new OI();
+        }
+        return instance;
+    }
+
+    public XboxController getXboxController(){
+        if(xboxController == null){
+            xboxController = new XboxController(0);
+        }
+        return xboxController;
+    }
+}
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 522f2fe..8581e3e 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -11,7 +11,7 @@
 public class Robot extends TimedRobot {
 
     Spark SparkLeft, SparkRight;
-        DigitalInput digitalInput1;
+    DigitalInput digitalInput1;
     DigitalInput input2;
     DigitalInput input3;
     DigitalInput input4;
@@ -21,13 +21,15 @@ public class Robot extends TimedRobot {
     boolean released;
     //Runs when the robot is first started up and should be used for any initialization code
     /*
+
      *  INITIALIZE CLASSES HERE
      */
-    TrapezoidProfile.State start;
-    TrapezoidProfile.State end;
-    TrapezoidProfile.Constraints constraints;
-    TrapezoidProfile profile;
+    TrapezoidProfile.State start; //start variable from type trapezoidprofile.state
+    TrapezoidProfile.State end; //end var
+    TrapezoidProfile.Constraints constraints; //constraints var from .constraints
+    TrapezoidProfile profile; //profile
     int counter;
+    double kp, ki, kd;
     PIDController control  = new PIDController(kp, ki, kd);
     Encoder encoder;
 
@@ -44,11 +46,11 @@ public void robotInit() {
         gyro = new RomiGyro();
         clicked = controller.getAButtonPressed();
         released = controller.getAButtonReleased();
-         start = new TrapezoidProfile.State(0, 0);
-         end = new TrapezoidProfile.State(1.0, 0);
-         constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
-         profile = new TrapezoidProfile(constraints, end, start);
-         encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
+        start = new TrapezoidProfile.State(0, 0);
+        end = new TrapezoidProfile.State(1.0, 0);
+        constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
+        profile = new TrapezoidProfile(constraints, end, start);
+        encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
 
 
     }
diff --git a/src/main/java/com/github/mittyrobotics/TankDrive.java b/src/main/java/com/github/mittyrobotics/TankDrive.java
index 7910d28..2792138 100644
--- a/src/main/java/com/github/mittyrobotics/TankDrive.java
+++ b/src/main/java/com/github/mittyrobotics/TankDrive.java
@@ -1,12 +1,15 @@
 package com.github.mittyrobotics;
-
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import com.github.mittyrobotics.OI;
 
 public class TankDrive extends CommandBase {
 
+
+
     Spark SparkLeft, SparkRight;
     DigitalInput input0;
     DigitalInput input1;
@@ -14,6 +17,12 @@ public class TankDrive extends CommandBase {
     DigitalInput input3;
     XboxController controller;
     RomiGyro gyro;
+
+    public TankDrive(){
+        super();
+        setName("Tank Drive");
+
+    }
     @Override
     public void initialize() {
         super.initialize();
@@ -31,9 +40,11 @@ public void initialize() {
     @Override
     public void execute() {
         super.execute();
+        DriveTrain.getInstance().setSparkLeft(OI.getInstance().getXboxController().getY(GenericHID.Hand.kLeft));
+        DriveTrain.getInstance().setSparkRight(OI.getInstance().getXboxController().getY(GenericHID.Hand.kRight));
         if(controller.getAButtonPressed()) {
             if (input0.get()) {
-                //move left
+               //move left
                 SparkLeft.set(0);
                 SparkRight.set(1);
             }
@@ -62,11 +73,13 @@ public void execute() {
 
     @Override
     public void end(boolean interrupted) {
-        super.end(interrupted);
+        DriveTrain.getInstance().setSparkLeft(0);
+        DriveTrain.getInstance().setSparkRight(0);
+
     }
 
     @Override
     public boolean isFinished() {
-        return super.isFinished();
+        return OI.getInstance().getXboxController().getAButtonPressed();
     }
 }
\ No newline at end of file

From 133ab1b801924074a2b271fd25d4c7465ff8dbac Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 8 Mar 2022 15:49:27 -0800
Subject: [PATCH 06/16] Pneumatics Code

pistons
---
 .idea/workspace.xml                            |  3 ---
 .../java/com/github/mittyrobotics/Robot.java   | 18 ++++++++++++++++--
 2 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index ed63ed5..660e16a 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,11 +5,8 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/OI.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrain.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrain.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 8581e3e..3d8dc28 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -32,6 +32,8 @@ public class Robot extends TimedRobot {
     double kp, ki, kd;
     PIDController control  = new PIDController(kp, ki, kd);
     Encoder encoder;
+    DoubleSolenoid s;
+    DoubleSolenoid p;
 
     @Override
     public void robotInit() {
@@ -51,8 +53,6 @@ public void robotInit() {
         constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
         profile = new TrapezoidProfile(constraints, end, start);
         encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
-
-
     }
 
     //Runs periodically during teleoperated mode
@@ -68,6 +68,20 @@ public void teleopPeriodic() {
         SparkLeft.set(output);
         SparkRight.set(output);
         counter++;
+
+        if(OI.getInstance().getXboxController().getAButton()){
+            s.set(DoubleSolenoid.Value.kForward);
+        }
+        if(OI.getInstance().getXboxController().getBButton()){
+            s.set(DoubleSolenoid.Value.kReverse);
+        }
+        if(OI.getInstance().getXboxController().getXButton()){
+            p.set(DoubleSolenoid.Value.kForward);
+        }
+        if(OI.getInstance().getXboxController().getYButton()){
+            p.set(DoubleSolenoid.Value.kReverse);
+        }
+
         if(clicked==false){
             clicked=false;
         }

From cd675b648a74b8110ac03faf3406275d3fc1bd69 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 8 Mar 2022 16:13:39 -0800
Subject: [PATCH 07/16] UpdatedPneumatics

I changed the code.
---
 .idea/workspace.xml                               | 8 ++++++++
 src/main/java/com/github/mittyrobotics/Robot.java | 5 +++--
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 660e16a..e591d49 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -48,6 +48,14 @@
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
+  <component name="GitSEFilterConfiguration">
+    <file-type-list>
+      <filtered-out-file-type name="LOCAL_BRANCH" />
+      <filtered-out-file-type name="REMOTE_BRANCH" />
+      <filtered-out-file-type name="TAG" />
+      <filtered-out-file-type name="COMMIT_BY_MESSAGE" />
+    </file-type-list>
+  </component>
   <component name="ProjectId" id="1popUgtFRoEscWY2dSrfhCdDagz" />
   <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
   <component name="ProjectViewState">
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 3d8dc28..152c0e4 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -2,8 +2,8 @@
 import edu.wpi.first.wpilibj.*;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-
-
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import com.github.mittyrobotics.util.Compressor;
 //Java automatically runs this class, and calls the various functions.
 /*
  *  YOUR WIFI MUST BE CONNECTED TO ROMI FOR THIS TO WORK
@@ -53,6 +53,7 @@ public void robotInit() {
         constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
         profile = new TrapezoidProfile(constraints, end, start);
         encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
+        s = new DoubleSolenoid(1,2);
     }
 
     //Runs periodically during teleoperated mode

From 95247854396c467f527fc03193a0d1338e150ff5 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 8 Mar 2022 16:18:45 -0800
Subject: [PATCH 08/16] Pneumatics

---
 .idea/workspace.xml                               | 1 -
 src/main/java/com/github/mittyrobotics/Robot.java | 6 +++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index e591d49..7ab16a5 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,7 +5,6 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 152c0e4..b2574c5 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -73,13 +73,13 @@ public void teleopPeriodic() {
         if(OI.getInstance().getXboxController().getAButton()){
             s.set(DoubleSolenoid.Value.kForward);
         }
-        if(OI.getInstance().getXboxController().getBButton()){
+        else if(OI.getInstance().getXboxController().getBButton()){
             s.set(DoubleSolenoid.Value.kReverse);
         }
-        if(OI.getInstance().getXboxController().getXButton()){
+        else if(OI.getInstance().getXboxController().getXButton()){
             p.set(DoubleSolenoid.Value.kForward);
         }
-        if(OI.getInstance().getXboxController().getYButton()){
+        else if(OI.getInstance().getXboxController().getYButton()){
             p.set(DoubleSolenoid.Value.kReverse);
         }
 

From 72b875e33fffbe261c060cace90d1dddcdbd9c58 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Thu, 10 Mar 2022 16:26:26 -0800
Subject: [PATCH 09/16] Chassis Testing Challenge

Chassis Testing Challenge
---
 .idea/workspace.xml                           |  7 ++
 .../java/com/github/mittyrobotics/Robot.java  | 41 +++++++-----
 .../java/com/github/mittyrobotics/Robot1.java | 65 +++++++++++++++++++
 3 files changed, 95 insertions(+), 18 deletions(-)
 create mode 100644 src/main/java/com/github/mittyrobotics/Robot1.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 7ab16a5..46e8765 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,6 +5,8 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot1.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
@@ -72,6 +74,11 @@
     <property name="project.structure.side.proportion" value="0.0" />
     <property name="settings.editor.selected.configurable" value="preferences.lookFeel" />
   </component>
+  <component name="RecentsManager">
+    <key name="CopyClassDialog.RECENTS_KEY">
+      <recent name="com.github.mittyrobotics" />
+    </key>
+  </component>
   <component name="RunManager">
     <configuration default="true" type="ArquillianJUnit" factoryName="" nameIsGenerated="true">
       <option name="arquillianRunConfiguration">
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index b2574c5..9903c65 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -10,7 +10,7 @@
  */
 public class Robot extends TimedRobot {
 
-    Spark SparkLeft, SparkRight;
+//    Spark SparkLeft, SparkRight;
     DigitalInput digitalInput1;
     DigitalInput input2;
     DigitalInput input3;
@@ -37,23 +37,25 @@ public class Robot extends TimedRobot {
 
     @Override
     public void robotInit() {
-        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
-        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
-        SparkLeft.setInverted(true);
-        digitalInput1 = new DigitalInput(0);
-        input2 = new DigitalInput(1);
-        input3 = new DigitalInput(2);
-        input4 = new DigitalInput(3);
+//        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
+//        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
+//        SparkLeft.setInverted(true);
+//        digitalInput1 = new DigitalInput(0);
+//        input2 = new DigitalInput(1);
+//        input3 = new DigitalInput(2);
+//        input4 = new DigitalInput(3);
         controller =  new XboxController(0);
-        gyro = new RomiGyro();
-        clicked = controller.getAButtonPressed();
-        released = controller.getAButtonReleased();
-        start = new TrapezoidProfile.State(0, 0);
-        end = new TrapezoidProfile.State(1.0, 0);
-        constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
-        profile = new TrapezoidProfile(constraints, end, start);
-        encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
-        s = new DoubleSolenoid(1,2);
+//        gyro = new RomiGyro();
+//        clicked = controller.getAButtonPressed();
+//        released = controller.getAButtonReleased();
+//        start = new TrapezoidProfile.State(0, 0);
+//        end = new TrapezoidProfile.State(1.0, 0);
+//        constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
+//        profile = new TrapezoidProfile(constraints, end, start);
+//        encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
+//        s = new DoubleSolenoid(1,2);
+
+        DriveTrain.getInstance().initHardware();
     }
 
     //Runs periodically during teleoperated mode
@@ -62,7 +64,10 @@ public void robotInit() {
      */
     @Override
     public void teleopPeriodic() {
-        
+        if (clicked){
+            SparkLeft.set(OI.getInstance().getXboxController().getY(GenericHID.Hand.kLeft);
+            SparkRight.set(OI.getInstance().getXboxController().getX(GenericHID.Hand.kLeft);
+        }
         TrapezoidProfile.State profileOutput = profile.calculate(0.02*counter);
         control.setSetpoint(profileOutput.position);
         double output = control.calculate(encoder.getDistance());
diff --git a/src/main/java/com/github/mittyrobotics/Robot1.java b/src/main/java/com/github/mittyrobotics/Robot1.java
new file mode 100644
index 0000000..9ef6ed0
--- /dev/null
+++ b/src/main/java/com/github/mittyrobotics/Robot1.java
@@ -0,0 +1,65 @@
+package com.github.mittyrobotics;
+
+import edu.wpi.first.wpilibj.*;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+//Java automatically runs this class, and calls the various functions.
+/*
+ *  YOUR WIFI MUST BE CONNECTED TO ROMI FOR THIS TO WORK
+ */
+public class Robot1 extends TimedRobot {
+
+
+    @Override
+    public void robotInit() {
+        DriveTrain.getInstance().initHardware();
+    }
+
+    //Runs periodically during teleoperated mode
+    /*
+     *  WRITE YOUR DRIVE CODE HERE
+     */
+    @Override
+    public void teleopPeriodic() {
+        DriveTrain.getInstance().setSparkLeft(OI.getInstance().getXboxController().getY(GenericHID.Hand.kLeft));
+        DriveTrain.getInstance().setSparkRight(OI.getInstance().getXboxController().getY(GenericHID.Hand.kRight));
+
+    }
+
+    //Runs when antonomous mode (robot runs on its own) first activated via the desktop application
+    @Override
+    public void autonomousInit() {
+
+    }
+
+    //Runs when teleoperated mode (robot controlled by driver) is first activated
+    @Override
+    public void teleopInit() {
+
+    }
+
+    //Runs when test mode is activated
+    @Override
+    public void testInit() {
+
+    }
+
+    //Runs whenever the robot is on, periodically: should be used for command schedulers
+    @Override
+    public void robotPeriodic() {
+
+    }
+
+    //Runs periodically during autonomous mode
+    @Override
+    public void autonomousPeriodic() {
+
+    }
+
+    //Runs periodically during test mode
+    @Override
+    public void testPeriodic() {
+
+    }
+}
\ No newline at end of file

From d0d83534c363677943a3902219f8909a87e7332b Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Tue, 22 Mar 2022 00:25:20 -0700
Subject: [PATCH 10/16] update to romi challenge

---
 .idea/workspace.xml                           |   4 +-
 .../java/com/github/mittyrobotics/Robot.java  |  21 ++--
 .../java/com/github/mittyrobotics/Robot1.java |  31 +++--
 .../com/github/mittyrobotics/RomiRobot2.java  | 106 ++++++++++++++++++
 4 files changed, 144 insertions(+), 18 deletions(-)
 create mode 100644 src/main/java/com/github/mittyrobotics/RomiRobot2.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 46e8765..83c4556 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,9 +5,10 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot1.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot1.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot1.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -72,6 +73,7 @@
     <property name="project.structure.last.edited" value="Project" />
     <property name="project.structure.proportion" value="0.0" />
     <property name="project.structure.side.proportion" value="0.0" />
+    <property name="run.code.analysis.last.selected.profile" value="pProject Default" />
     <property name="settings.editor.selected.configurable" value="preferences.lookFeel" />
   </component>
   <component name="RecentsManager">
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 9903c65..688aa5d 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -10,7 +10,7 @@
  */
 public class Robot extends TimedRobot {
 
-//    Spark SparkLeft, SparkRight;
+    Spark SparkLeft, SparkRight;
     DigitalInput digitalInput1;
     DigitalInput input2;
     DigitalInput input3;
@@ -33,13 +33,14 @@ public class Robot extends TimedRobot {
     PIDController control  = new PIDController(kp, ki, kd);
     Encoder encoder;
     DoubleSolenoid s;
+    boolean deadZone;
     DoubleSolenoid p;
 
     @Override
     public void robotInit() {
-//        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
-//        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
-//        SparkLeft.setInverted(true);
+        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
+        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
+        SparkLeft.setInverted(true);
 //        digitalInput1 = new DigitalInput(0);
 //        input2 = new DigitalInput(1);
 //        input3 = new DigitalInput(2);
@@ -50,11 +51,11 @@ public void robotInit() {
 //        released = controller.getAButtonReleased();
 //        start = new TrapezoidProfile.State(0, 0);
 //        end = new TrapezoidProfile.State(1.0, 0);
-//        constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
+        constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
 //        profile = new TrapezoidProfile(constraints, end, start);
 //        encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
 //        s = new DoubleSolenoid(1,2);
-
+        deadZone = true;
         DriveTrain.getInstance().initHardware();
     }
 
@@ -64,6 +65,8 @@ public void robotInit() {
      */
     @Override
     public void teleopPeriodic() {
+
+
         if (clicked){
             SparkLeft.set(OI.getInstance().getXboxController().getY(GenericHID.Hand.kLeft);
             SparkRight.set(OI.getInstance().getXboxController().getX(GenericHID.Hand.kLeft);
@@ -107,13 +110,13 @@ else if(input4.get()) {
             SparkLeft.set(-1);
             SparkRight.set(-1);
         }
-/*        if(controller.getAButton()){
+        if(controller.getAButton()){
             while(gyro.getAngleZ()<=45){
                 SparkLeft.set(-0.5);
                 SparkRight.set(0.5);
             }
         }
-        */
+
         if(clicked){
             SparkLeft.set(controller.getY(GenericHID.Hand.kLeft));
             SparkRight.set(controller.getY(GenericHID.Hand.kRight));
@@ -123,7 +126,7 @@ else if(input4.get()) {
             SparkRight.set(0.5);
         }
 
-
+        */
     }
 
     //Runs when antonomous mode (robot runs on its own) first activated via the desktop application
diff --git a/src/main/java/com/github/mittyrobotics/Robot1.java b/src/main/java/com/github/mittyrobotics/Robot1.java
index 9ef6ed0..8be4242 100644
--- a/src/main/java/com/github/mittyrobotics/Robot1.java
+++ b/src/main/java/com/github/mittyrobotics/Robot1.java
@@ -10,20 +10,35 @@
  */
 public class Robot1 extends TimedRobot {
 
-
+    Spark SparkLeft, SparkRight;
+    double deadZone = 0.2;
+    boolean inDeadZone;
+    XboxController controller;
     @Override
     public void robotInit() {
         DriveTrain.getInstance().initHardware();
-    }
+        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID);
+        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
+
+        //Runs periodically during teleoperated mode
+        /*
+         *  WRITE YOUR DRIVE CODE HERE
+         */
+        controller =  new XboxController(0);
 
-    //Runs periodically during teleoperated mode
-    /*
-     *  WRITE YOUR DRIVE CODE HERE
-     */
+    }
     @Override
     public void teleopPeriodic() {
-        DriveTrain.getInstance().setSparkLeft(OI.getInstance().getXboxController().getY(GenericHID.Hand.kLeft));
-        DriveTrain.getInstance().setSparkRight(OI.getInstance().getXboxController().getY(GenericHID.Hand.kRight));
+        if(controller.getY(GenericHID.Hand.kLeft) > -deadZone && OI.getInstance().getXboxController().getY(GenericHID.Hand.kLeft) > deadZone){
+             DriveTrain.getInstance().setSparkLeft(OI.getInstance().getXboxController().getY(GenericHID.Hand.kLeft));
+             SparkLeft.set(controller.getY(GenericHID.Hand.kLeft));
+             SparkRight.set(controller.getY(GenericHID.Hand.kRight));
+            inDeadZone = false;
+        }
+        else if() {
+            inDeadZone = true;
+        }
+
 
     }
 
diff --git a/src/main/java/com/github/mittyrobotics/RomiRobot2.java b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
new file mode 100644
index 0000000..204d01f
--- /dev/null
+++ b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
@@ -0,0 +1,106 @@
+package com.github.mittyrobotics;
+import edu.wpi.first.wpilibj.*;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+public class RomiRobot2 extends TimedRobot {
+    Spark SparkLeft, SparkRight;
+    TrapezoidProfile.State start; //start variable from type trapezoidprofile.state
+    TrapezoidProfile.State end; //end var
+    TrapezoidProfile.Constraints constraints; //constraints var from .constraints
+    TrapezoidProfile profile; //profile
+    RomiGyro gyro;
+    int counter;
+    double kp, ki, kd;
+    PIDController control  = new PIDController(kp, ki, kd);
+    Encoder encoder;
+    public void robotInit() {
+        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
+        SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
+        SparkLeft.setInverted(true);
+        gyro = new RomiGyro();
+        start = new TrapezoidProfile.State(0, 0);
+        end = new TrapezoidProfile.State(1.0, 0);
+        constraints = new TrapezoidProfile.Constraints(0.2, 0.2);
+        profile = new TrapezoidProfile(constraints, end, start);
+        encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
+    }
+    public void teleopPeriodic() {
+
+        //straight 12 inches
+
+
+
+    }
+    public void challenge(){
+        moveDistance(12);
+        changeDirection(90, true);
+        moveDistance(6);
+        changeDirection(90,false);
+        moveDistance(12);
+        changeDirection(120,true);
+        moveDistance(18);
+        changeDirection(130,false);
+        moveDistance(36);
+        changeDirection(90,true);
+        moveDistance(10);
+        changeDirection(60,false);
+        moveDistance(36);
+    }
+    public void moveDistance(int d_inch){
+
+    }
+    public void changeDirection(int a_degrees, boolean right){
+        if(right){
+            //gyro check if it is greater than a_degrees
+            SparkLeft.set(1);
+            SparkRight.set(0);
+        }
+        else{
+            //gyro check if it is greater than a_degrees
+            SparkLeft.set(0);
+            SparkRight.set(1);
+        }
+    }
+    public void autonomousInit() {
+
+        TrapezoidProfile.State profileOutput = profile.calculate(12*counter);
+        control.setSetpoint(profileOutput.position);
+        double output = control.calculate(encoder.getDistance());
+        SparkLeft.set(output);
+        SparkRight.set(output);
+        counter++;
+
+    }
+
+    //Runs when teleoperated mode (robot controlled by driver) is first activated
+    @Override
+    public void teleopInit() {
+
+    }
+
+    //Runs when test mode is activated
+    @Override
+    public void testInit() {
+
+    }
+
+    //Runs whenever the robot is on, periodically: should be used for command schedulers
+    @Override
+    public void robotPeriodic() {
+
+    }
+
+    //Runs periodically during autonomous mode
+    @Override
+    public void autonomousPeriodic() {
+
+    }
+
+    //Runs periodically during test mode
+    @Override
+    public void testPeriodic() {
+
+    }
+}
+

From 9b6ae8cab9a7182a2ee4d205db4c462bd78fb74f Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Mon, 28 Mar 2022 22:30:59 -0700
Subject: [PATCH 11/16] Romi Robot Course Challenge

MoveForward, ChangeDirection function's usage
---
 .idea/workspace.xml                           |  3 +-
 .../java/com/github/mittyrobotics/Robot.java  |  2 +-
 .../com/github/mittyrobotics/RomiRobot2.java  | 53 ++++++++++++-------
 3 files changed, 36 insertions(+), 22 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 83c4556..913d96d 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,10 +5,9 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot1.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot1.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 688aa5d..4941afc 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -153,7 +153,7 @@ public void robotPeriodic() {
 
     }
 
-    //Runs periodically during autonomous mode
+    //Runs periodically during auto6nomous mode
     @Override
     public void autonomousPeriodic() {
 
diff --git a/src/main/java/com/github/mittyrobotics/RomiRobot2.java b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
index 204d01f..a45eb22 100644
--- a/src/main/java/com/github/mittyrobotics/RomiRobot2.java
+++ b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
@@ -14,6 +14,7 @@ public class RomiRobot2 extends TimedRobot {
     double kp, ki, kd;
     PIDController control  = new PIDController(kp, ki, kd);
     Encoder encoder;
+
     public void robotInit() {
         SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
         SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
@@ -33,43 +34,57 @@ public void teleopPeriodic() {
 
     }
     public void challenge(){
-        moveDistance(12);
+        int currDistance = 0;
+        currDistance += 12;
+        moveForward(12, currDistance);
         changeDirection(90, true);
-        moveDistance(6);
+        currDistance += 6;
+        moveForward(6,currDistance);
         changeDirection(90,false);
-        moveDistance(12);
+        currDistance += 12;
+        moveForward(12,currDistance);
         changeDirection(120,true);
-        moveDistance(18);
+        currDistance += 18;
+        moveForward(18,currDistance);
         changeDirection(130,false);
-        moveDistance(36);
+        currDistance += 36;
+        moveForward(36, currDistance);
         changeDirection(90,true);
-        moveDistance(10);
+        currDistance += 10;
+        moveForward(10, currDistance);
         changeDirection(60,false);
-        moveDistance(36);
+        currDistance += 36;
+        moveForward(36, currDistance);
     }
-    public void moveDistance(int d_inch){
-
+    public void moveForward(int d_inch, int currDistance){
+        while(encoder.getDistance()<currDistance){
+            TrapezoidProfile.State profileOutput = profile.calculate(0.2*counter);
+            control.setSetpoint(d_inch*Constants.TICKS_PER_INCH);
+            double output = control.calculate(encoder.getDistance());
+            SparkLeft.set(output);
+            SparkRight.set(output);
+            counter++;
+        }
     }
     public void changeDirection(int a_degrees, boolean right){
         if(right){
             //gyro check if it is greater than a_degrees
-            SparkLeft.set(1);
-            SparkRight.set(0);
+            while(gyro.getAngleX()<a_degrees){
+                SparkLeft.set(1);
+                SparkRight.set(-1);
+            }
         }
         else{
             //gyro check if it is greater than a_degrees
-            SparkLeft.set(0);
-            SparkRight.set(1);
+            while(gyro.getAngleX()<a_degrees){
+                SparkLeft.set(-1);
+                SparkRight.set(1);
+            }
         }
     }
     public void autonomousInit() {
 
-        TrapezoidProfile.State profileOutput = profile.calculate(12*counter);
-        control.setSetpoint(profileOutput.position);
-        double output = control.calculate(encoder.getDistance());
-        SparkLeft.set(output);
-        SparkRight.set(output);
-        counter++;
+
 
     }
 

From d38c2a0132db9b5d71ae5ff78ac00096edbd4a5c Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Mon, 28 Mar 2022 23:00:00 -0700
Subject: [PATCH 12/16] Romi Robot Course Challenge Update

Did Second method as well.
---
 .idea/workspace.xml                           |  1 -
 .../com/github/mittyrobotics/RomiRobot2.java  | 29 +++++++++++++++++--
 2 files changed, 27 insertions(+), 3 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 913d96d..b2b6bde 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -6,7 +6,6 @@
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
diff --git a/src/main/java/com/github/mittyrobotics/RomiRobot2.java b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
index a45eb22..35c4c25 100644
--- a/src/main/java/com/github/mittyrobotics/RomiRobot2.java
+++ b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
@@ -16,7 +16,7 @@ public class RomiRobot2 extends TimedRobot {
     Encoder encoder;
 
     public void robotInit() {
-        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID;
+        SparkLeft = new Spark(Constants.LEFT_MOTOR_ID);
         SparkRight = new Spark(Constants.RIGHT_MOTOR_ID);
         SparkLeft.setInverted(true);
         gyro = new RomiGyro();
@@ -31,7 +31,6 @@ public void teleopPeriodic() {
         //straight 12 inches
 
 
-
     }
     public void challenge(){
         int currDistance = 0;
@@ -56,6 +55,32 @@ public void challenge(){
         currDistance += 36;
         moveForward(36, currDistance);
     }
+    public void challenge2(){
+        int currDistance = 0;
+        currDistance += 12;
+        moveForward(12, currDistance);
+        changeDirection(90, true);
+        currDistance += 6;
+        moveForward(6,currDistance);
+        changeDirection(90,false);
+        currDistance += 24;
+        moveForward(24,currDistance);
+        changeDirection(90,true);
+        currDistance += 15;
+        moveForward(15,currDistance);
+        changeDirection(80,false);
+        currDistance += 6;
+        moveForward(6, currDistance);
+        changeDirection(100,true);
+        currDistance += 24;
+        moveForward(24, currDistance);
+        changeDirection(110,false);
+        currDistance += 36;
+        moveForward(36, currDistance);
+        changeDirection(70,false);
+        currDistance += 30;
+        moveForward(30, currDistance);
+    }
     public void moveForward(int d_inch, int currDistance){
         while(encoder.getDistance()<currDistance){
             TrapezoidProfile.State profileOutput = profile.calculate(0.2*counter);

From 1d5e904f1edcf033438973a0aa863b34d96f9294 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Thu, 31 Mar 2022 17:17:58 -0700
Subject: [PATCH 13/16] changed stuff

to be or not to be
---
 .idea/workspace.xml                                    | 1 -
 src/main/java/com/github/mittyrobotics/RomiRobot2.java | 6 ++++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index b2b6bde..ef5b27b 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,7 +5,6 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
diff --git a/src/main/java/com/github/mittyrobotics/RomiRobot2.java b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
index 35c4c25..85940dc 100644
--- a/src/main/java/com/github/mittyrobotics/RomiRobot2.java
+++ b/src/main/java/com/github/mittyrobotics/RomiRobot2.java
@@ -33,6 +33,8 @@ public void teleopPeriodic() {
 
     }
     public void challenge(){
+        //no whiles
+        //use variable so ++ when done with step6
         int currDistance = 0;
         currDistance += 12;
         moveForward(12, currDistance);
@@ -94,14 +96,14 @@ public void moveForward(int d_inch, int currDistance){
     public void changeDirection(int a_degrees, boolean right){
         if(right){
             //gyro check if it is greater than a_degrees
-            while(gyro.getAngleX()<a_degrees){
+            while(gyro.getAngleZ()<a_degrees){
                 SparkLeft.set(1);
                 SparkRight.set(-1);
             }
         }
         else{
             //gyro check if it is greater than a_degrees
-            while(gyro.getAngleX()<a_degrees){
+            while(gyro.getAngleZ()<a_degrees){
                 SparkLeft.set(-1);
                 SparkRight.set(1);
             }

From 5946b6212aa55ad6eec4943a7c0c5b91af27b799 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Fri, 4 Nov 2022 15:24:06 -0700
Subject: [PATCH 14/16] Update workspace.xml

---
 .idea/workspace.xml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index ef5b27b..c806c7d 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,7 +5,7 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -55,6 +55,11 @@
       <filtered-out-file-type name="COMMIT_BY_MESSAGE" />
     </file-type-list>
   </component>
+  <component name="HighlightingSettingsPerFile">
+    <setting file="file://$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Constants.java" root0="FORCE_HIGHLIGHTING" />
+    <setting file="file://$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" root0="FORCE_HIGHLIGHTING" />
+    <setting file="file://$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" root0="FORCE_HIGHLIGHTING" />
+  </component>
   <component name="ProjectId" id="1popUgtFRoEscWY2dSrfhCdDagz" />
   <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
   <component name="ProjectViewState">

From 734aa01857cffb244c55001938209b86469831de Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Thu, 1 Dec 2022 01:46:15 -0800
Subject: [PATCH 15/16] minor update

minor update
---
 .idea/workspace.xml                                   | 3 ++-
 src/main/java/com/github/mittyrobotics/TankDrive.java | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index c806c7d..8c2f532 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -6,6 +6,7 @@
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -57,8 +58,8 @@
   </component>
   <component name="HighlightingSettingsPerFile">
     <setting file="file://$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Constants.java" root0="FORCE_HIGHLIGHTING" />
-    <setting file="file://$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" root0="FORCE_HIGHLIGHTING" />
     <setting file="file://$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiRobot2.java" root0="FORCE_HIGHLIGHTING" />
+    <setting file="file://$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" root0="FORCE_HIGHLIGHTING" />
   </component>
   <component name="ProjectId" id="1popUgtFRoEscWY2dSrfhCdDagz" />
   <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
diff --git a/src/main/java/com/github/mittyrobotics/TankDrive.java b/src/main/java/com/github/mittyrobotics/TankDrive.java
index 2792138..ef20851 100644
--- a/src/main/java/com/github/mittyrobotics/TankDrive.java
+++ b/src/main/java/com/github/mittyrobotics/TankDrive.java
@@ -11,7 +11,7 @@ public class TankDrive extends CommandBase {
 
 
     Spark SparkLeft, SparkRight;
-    DigitalInput input0;
+    DigitalInput input0;-
     DigitalInput input1;
     DigitalInput input2;
     DigitalInput input3;

From 6496fc97ce581e7da3432e0fe58c31b00a9f8d18 Mon Sep 17 00:00:00 2001
From: KrishnaN2357 <krishnanarayanasamy25@mittymonarch.com>
Date: Thu, 2 Mar 2023 16:38:20 -0800
Subject: [PATCH 16/16] yj

yj
---
 .idea/jarRepositories.xml                     |  7 ++-
 .idea/modules.xml                             |  8 ----
 .idea/tko-romi.iml                            | 12 -----
 .idea/workspace.xml                           |  5 ++-
 .../mittyrobotics/TrapezoidProfile.java       | 45 +++++++++++++++++++
 5 files changed, 55 insertions(+), 22 deletions(-)
 delete mode 100644 .idea/modules.xml
 delete mode 100644 .idea/tko-romi.iml
 create mode 100644 src/main/java/com/github/mittyrobotics/TrapezoidProfile.java

diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml
index abf869c..899bb36 100644
--- a/.idea/jarRepositories.xml
+++ b/.idea/jarRepositories.xml
@@ -29,7 +29,12 @@
     <remote-repository>
       <option name="id" value="WPILocal" />
       <option name="name" value="WPILocal" />
-      <option name="url" value="file:/$PROJECT_DIR$/../../../../../Public/wpilib/2021/maven" />
+      <option name="url" value="file:/$USER_HOME$/Public/wpilib/2021/maven" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="WPILocal" />
+      <option name="name" value="WPILocal" />
+      <option name="url" value="file:/$PROJECT_DIR$/../../../../../../Public/wpilib/2021/maven" />
     </remote-repository>
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
deleted file mode 100644
index 5fc49aa..0000000
--- a/.idea/modules.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/tko-romi.iml" filepath="$PROJECT_DIR$/.idea/tko-romi.iml" />
-    </modules>
-  </component>
-</project>
\ No newline at end of file
diff --git a/.idea/tko-romi.iml b/.idea/tko-romi.iml
deleted file mode 100644
index 394b345..0000000
--- a/.idea/tko-romi.iml
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module external.linked.project.id="tko-romi" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="GRADLE" external.system.module.group="" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
-  <component name="NewModuleRootManager" inherit-compiler-output="true">
-    <exclude-output />
-    <content url="file://$MODULE_DIR$">
-      <excludeFolder url="file://$MODULE_DIR$/.gradle" />
-      <excludeFolder url="file://$MODULE_DIR$/build" />
-    </content>
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 8c2f532..f9ac5cc 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,8 +5,11 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TrapezoidProfile.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/jarRepositories.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/jarRepositories.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/modules.xml" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/tko-romi.iml" beforeDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDrive.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
diff --git a/src/main/java/com/github/mittyrobotics/TrapezoidProfile.java b/src/main/java/com/github/mittyrobotics/TrapezoidProfile.java
new file mode 100644
index 0000000..1aeb660
--- /dev/null
+++ b/src/main/java/com/github/mittyrobotics/TrapezoidProfile.java
@@ -0,0 +1,45 @@
+package com.github.mittyrobotics;
+
+
+public class TrapezoidProfile {
+    private TrapezoidProfile.Constraints constraints;
+    private TrapezoidProfile.State desired;
+    private TrapezoidProfile.State current;
+    private double profUptime = 0;
+    private boolean complete = false;
+
+    public TrapezoidProfile(TrapezoidProfile.Constraints constraints, TrapezoidProfile.State desired, TrapezoidProfile.State initial){
+        this.constraints=constraints;
+        this.desired=desired;
+        this.current=initial;
+
+    }
+
+    public void
+
+//
+//    public TrapezoidProfile calculate(double seconds){
+//        return TrapezoidProfile.current;
+//    }
+
+
+    public class Constraints{
+        private double maxV;
+        private double maxA;
+
+        public Constraints(double maxV, double maxA){
+            this.maxV=maxV;
+            this.maxA=maxA;
+        }
+
+    }
+
+    public class State{
+        private double pos;
+        private double vel;
+        public State(double pos, double vel){
+            this.pos=pos;
+            this.vel=vel;
+        }
+    }
+}