From e5c8162195d8987f2865363d6c9a16110d5d0bfd Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgrammer <chasewmanzella@gmail.com>
Date: Tue, 5 Mar 2024 15:56:03 -0600
Subject: [PATCH 01/13] Buttons remapped

The intake commands for the sushi rollers and the front rollers have been split up and assigned to different buttons. Sushi in: 5, Sushi out: 6, Front in, 3, Front out: 4. The conveyor runs in the appropriate direction for each button (5 & 3 in, 3 & 4 out).
---
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 .../frc/robot/commands/ConveyorCommand.java   |  5 ++---
 .../frc/robot/commands/IntakeCommand.java     | 22 +++++++++++++------
 .../java/frc/robot/subsystems/Intake.java     | 16 ++++++++++----
 4 files changed, 30 insertions(+), 15 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index efc0c2b..3c2d612 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -102,7 +102,7 @@ public RobotContainer() {
             () -> MathUtil.applyDeadband(driverXbox.getLeftX(), OperatorConstants.LEFT_X_DEADBAND),
             () -> driverXbox.getRawAxis(2));
 
-    drivebase.setDefaultCommand(closedAbsoluteDriveAdv);
+    drivebase.setDefaultCommand(driveFieldOrientedDirectAngle);
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
index 1ac0685..1ac4092 100644
--- a/src/main/java/frc/robot/commands/ConveyorCommand.java
+++ b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -24,11 +24,10 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    // TODO: Change this to the correct button
-    if (ConveyorJoystick.getRawButton(6) == true) {
+    if (ConveyorJoystick.getRawButton(5) == true | ConveyorJoystick.getRawButton(3) == true) {
       m_ConveyorSubsystem.enableConveyor();
       // TODO: Change this to the correct button
-    } else if (ConveyorJoystick.getRawButton(5) == true) {
+    } else if (ConveyorJoystick.getRawButton(6) == true | ConveyorJoystick.getRawButton(4)) {
       m_ConveyorSubsystem.reverseConveyor();
       System.out.println("Conveyor Moving in Reverse");
     } else {
diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java
index 995114f..ff0c9d9 100644
--- a/src/main/java/frc/robot/commands/IntakeCommand.java
+++ b/src/main/java/frc/robot/commands/IntakeCommand.java
@@ -24,13 +24,20 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    // TODO: Change this to the correct button
-    if (IntakeJoystick.getRawButton(3) == true) {
-      m_intakeSubsystem.enableIntake();
-      // TODO: Change this to the correct button
+    if (IntakeJoystick.getRawButton(5) == true) {
+      // sushi in
+      m_intakeSubsystem.enableIntakeSushi();
+    } else if (IntakeJoystick.getRawButton(3) == true) {
+      // front in
+      m_intakeSubsystem.enableIntakeFront();
     } else if (IntakeJoystick.getRawButton(4) == true) {
-      m_intakeSubsystem.reverseIntake();
-      System.out.println("Intake Moving in Reverse");
+      // front out
+      m_intakeSubsystem.reverseIntakeFront();
+      System.out.println("Front Rollers Moving in Reverse");
+    } else if (IntakeJoystick.getRawButton(6) == true) {
+      // sushi out
+      m_intakeSubsystem.reverseIntakeSushi();
+      System.out.println("Sushi Rollers Moving in Reverse");
     } else {
       m_intakeSubsystem.disableIntake();
     }
@@ -39,7 +46,8 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     m_intakeSubsystem.disableIntake();
-    m_intakeSubsystem.enableIntake();
+    m_intakeSubsystem.enableIntakeSushi();
+    m_intakeSubsystem.enableIntakeFront();
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index bc1d46e..4587c61 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -28,9 +28,14 @@ public Intake() {
     intakeFront.setIdleMode(IdleMode.kBrake);
   }
 
-  /** Sets the intake motors to 100% power. */
-  public void enableIntake() {
+  /** Sets the sushi motors to 100% power. */
+  public void enableIntakeSushi() {
     intakeSushi.set(MechanismConstants.INTAKE_MOTOR_SPEED_SUSHI);
+    //intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
+  }
+  
+  /** Sets the front intake motors to 100% power. */
+  public void enableIntakeFront() {
     intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
 
@@ -41,11 +46,14 @@ public void disableIntake() {
   }
 
   /** Sets the intake motors to -100% power. (Reverse direction) */
-  public void reverseIntake() {
+  public void reverseIntakeSushi() {
     intakeSushi.set(-MechanismConstants.INTAKE_MOTOR_SPEED_SUSHI);
-    intakeFront.set(-MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
 
+  /** Sets the front intake motors to -100% power (Reverse direction) */
+  public void reverseIntakeFront() {
+    intakeFront.set(-MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From bef3f9192429c5bd5f1a24914fb8cf1f1d68ba9b Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Tue, 5 Mar 2024 19:14:04 -0600
Subject: [PATCH 02/13] Buttons remapped

All buttons for intake control have been remapped as suggested by Andrew.
---
 src/main/java/frc/robot/commands/FlyWCommand.java | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
index 7dde141..b71b62c 100644
--- a/src/main/java/frc/robot/commands/FlyWCommand.java
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -12,7 +12,7 @@ public class FlyWCommand extends Command {
   private final FlyWheel m_FlyWSubsystem;
   // controller
   // TODO: Change this to the correct controller
-  private final Joystick ConveyorJoystick = new Joystick(1);
+  private final Joystick Joystick = new Joystick(1);
 
   public FlyWCommand(FlyWheel subsystem) {
     m_FlyWSubsystem = subsystem;
@@ -24,13 +24,11 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    // TODO: Change this to the correct button
-    if (ConveyorJoystick.getRawButton(3) == true) {
+    if (Joystick.getPOV() != -1) {
       m_FlyWSubsystem.enableflywheel();
-      // TODO: Change this to the correct button
-    } else if (ConveyorJoystick.getRawButton(4) == true) {
+    } else if (Joystick.getRawButton(7) == true) {
       m_FlyWSubsystem.reverseflywheel();
-      System.out.println("Conveyor Moving in Reverse");
+      System.out.println("Flywheels Moving in Reverse");
     } else {
       m_FlyWSubsystem.disableflywheel();
     }

From 43ecc2823769a14a909320957ad8ff42db2b364d Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Tue, 5 Mar 2024 19:19:29 -0600
Subject: [PATCH 03/13] Renamed Joystick for Clarity

Matched the name of the joystick in the FlyWCommand class to match the pattern found within all other Command classes.
---
 src/main/java/frc/robot/commands/FlyWCommand.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
index b71b62c..c0a7d3e 100644
--- a/src/main/java/frc/robot/commands/FlyWCommand.java
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -12,7 +12,7 @@ public class FlyWCommand extends Command {
   private final FlyWheel m_FlyWSubsystem;
   // controller
   // TODO: Change this to the correct controller
-  private final Joystick Joystick = new Joystick(1);
+  private final Joystick FlyWJoystick = new Joystick(1);
 
   public FlyWCommand(FlyWheel subsystem) {
     m_FlyWSubsystem = subsystem;
@@ -24,9 +24,9 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (Joystick.getPOV() != -1) {
+    if (FlyWJoystick.getPOV() != -1) {
       m_FlyWSubsystem.enableflywheel();
-    } else if (Joystick.getRawButton(7) == true) {
+    } else if (FlyWJoystick.getRawButton(7) == true) {
       m_FlyWSubsystem.reverseflywheel();
       System.out.println("Flywheels Moving in Reverse");
     } else {

From 100b174f67a4858f020d4c2230449a806999c7d0 Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Tue, 5 Mar 2024 20:14:59 -0600
Subject: [PATCH 04/13] Flywheels remapped

Upwards to the 45s and center is temporarily set to reduced speed until they clear to go full/adjusted speed.
Downwards is 15% speed (center and 45s). Button 7 is reverse (reverse is set to 15% speed).
---
 src/main/java/frc/robot/Constants.java            |  3 ++-
 src/main/java/frc/robot/commands/FlyWCommand.java | 10 +++++-----
 src/main/java/frc/robot/subsystems/FlyWheel.java  | 14 ++++++++++----
 src/main/java/frc/robot/subsystems/Intake.java    |  5 +++--
 4 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c9984f1..683f0e5 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -91,7 +91,8 @@ public static class MechanismConstants {
     public static final int FLYWHEEL_MOTOR_2 = 4;
     public static final boolean FLYWHEEL_MOTOR_1_INVERTED = true;
     public static final boolean FLYWHEEL_MOTOR_2_INVERTED = false;
-    public static final double FLYWHEEL_MOTOR_SPEED = 1.0;
+    public static final double FLYWHEEL_MOTOR_FULL_SPEED = 1.0;
+    public static final double FLYWHEEL_MOTOR_REDUCED_SPEED = 0.65;
     public static final double FLYWHEEL_MOTOR_SPEED_SLOW = 0.15;
   }
 }
diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
index a6a3375..b155b23 100644
--- a/src/main/java/frc/robot/commands/FlyWCommand.java
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -24,13 +24,13 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (FlyWJoystick.getPOV() != -1) {
-      m_FlyWSubsystem.enableflywheel();
+    if (FlyWJoystick.getPOV() == 215 | FlyWJoystick.getPOV() == 0 | FlyWJoystick.getPOV() == 45) {
+      m_FlyWSubsystem.enableflywheelreduced();
+    } else if (FlyWJoystick.getPOV() == 225 | FlyWJoystick.getPOV() == 180 | FlyWJoystick.getPOV() == 135) {
+      m_FlyWSubsystem.enableflywheelslow();
     } else if (FlyWJoystick.getRawButton(7) == true) {
       m_FlyWSubsystem.reverseflywheel();
-      System.out.println("Conveyor Moving in Reverse");
-    } else if (ConveyorJoystick.getRawButton(9) == true) {
-      m_FlyWSubsystem.enableflywheelslow();
+      System.out.println("Flywheels Moving in Reverse");
     } else {
       m_FlyWSubsystem.disableflywheel();
     }
diff --git a/src/main/java/frc/robot/subsystems/FlyWheel.java b/src/main/java/frc/robot/subsystems/FlyWheel.java
index df05dae..5c42ccc 100644
--- a/src/main/java/frc/robot/subsystems/FlyWheel.java
+++ b/src/main/java/frc/robot/subsystems/FlyWheel.java
@@ -23,12 +23,18 @@ public FlyWheel() {
   }
 
   /** Sets the flywheel motors to 100% power. */
-  public void enableflywheelfast() {
-    flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED);
-    flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED);
+  public void enableflywheelfull() {
+    flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_FULL_SPEED);
+    flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_FULL_SPEED);
   }
 
-  /** Sets the flywheel motors to slow speed */
+  /** Sets the flywheel speed to 65% power. */
+  public void enableflywheelreduced() {
+    flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_REDUCED_SPEED);
+    flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_REDUCED_SPEED);
+  }
+
+  /** Sets the flywheel motors to 15% */
   public void enableflywheelslow() {
     flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
     flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 4587c61..56ce047 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -31,9 +31,9 @@ public Intake() {
   /** Sets the sushi motors to 100% power. */
   public void enableIntakeSushi() {
     intakeSushi.set(MechanismConstants.INTAKE_MOTOR_SPEED_SUSHI);
-    //intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
+    // intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
-  
+
   /** Sets the front intake motors to 100% power. */
   public void enableIntakeFront() {
     intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
@@ -54,6 +54,7 @@ public void reverseIntakeSushi() {
   public void reverseIntakeFront() {
     intakeFront.set(-MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

From 3c9240e1954da6c8323c48c6eb7f717b3a419425 Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Thu, 7 Mar 2024 17:36:07 -0600
Subject: [PATCH 05/13] Implement full speed

Full speed (100%) is now default forward POV speed (not 65%). To go 65% speed, press button 12.
---
 src/main/java/frc/robot/commands/FlyWCommand.java | 6 ++++--
 src/main/java/frc/robot/subsystems/FlyWheel.java  | 2 +-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
index b155b23..f45cc81 100644
--- a/src/main/java/frc/robot/commands/FlyWCommand.java
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -25,9 +25,11 @@ public void initialize() {}
   @Override
   public void execute() {
     if (FlyWJoystick.getPOV() == 215 | FlyWJoystick.getPOV() == 0 | FlyWJoystick.getPOV() == 45) {
-      m_FlyWSubsystem.enableflywheelreduced();
+      m_FlyWSubsystem.enableflywheelfull();
     } else if (FlyWJoystick.getPOV() == 225 | FlyWJoystick.getPOV() == 180 | FlyWJoystick.getPOV() == 135) {
-      m_FlyWSubsystem.enableflywheelslow();
+      m_FlyWSubsystem.enableflywheellow();
+    } else if (FlyWJoystick.getRawButton(12) == true) {
+      m_FlyWSubsystem.enableflywheelreduced();
     } else if (FlyWJoystick.getRawButton(7) == true) {
       m_FlyWSubsystem.reverseflywheel();
       System.out.println("Flywheels Moving in Reverse");
diff --git a/src/main/java/frc/robot/subsystems/FlyWheel.java b/src/main/java/frc/robot/subsystems/FlyWheel.java
index 5c42ccc..60a1a76 100644
--- a/src/main/java/frc/robot/subsystems/FlyWheel.java
+++ b/src/main/java/frc/robot/subsystems/FlyWheel.java
@@ -35,7 +35,7 @@ public void enableflywheelreduced() {
   }
 
   /** Sets the flywheel motors to 15% */
-  public void enableflywheelslow() {
+  public void enableflywheellow() {
     flywheelMotor1.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
     flywheelMotor2.set(MechanismConstants.FLYWHEEL_MOTOR_SPEED_SLOW);
   }

From d1c991a852f6b98e93acb1e9a8ad04d1c98006b4 Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Thu, 7 Mar 2024 21:34:02 -0600
Subject: [PATCH 06/13] Fixed a POV Value

Typo "FlyWJoystick.getPOV() == >>>215<<<" has been corrected to "FlyWJoystick.getPOV() == >>>315<<<" in FlyWCommand.java. Additionally, some completed //TODO's have been cleared due to completion of their task in previous commits.
---
 .vscode/launch.json                                  | 12 +++++++++---
 .../java/frc/robot/commands/ConveyorCommand.java     |  1 -
 src/main/java/frc/robot/commands/DumpControl.java    |  2 --
 src/main/java/frc/robot/commands/FlyWCommand.java    |  2 +-
 4 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/.vscode/launch.json b/.vscode/launch.json
index c9c9713..1f39ec5 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "2024-Robot"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
index 1ac4092..cf86812 100644
--- a/src/main/java/frc/robot/commands/ConveyorCommand.java
+++ b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -26,7 +26,6 @@ public void initialize() {}
   public void execute() {
     if (ConveyorJoystick.getRawButton(5) == true | ConveyorJoystick.getRawButton(3) == true) {
       m_ConveyorSubsystem.enableConveyor();
-      // TODO: Change this to the correct button
     } else if (ConveyorJoystick.getRawButton(6) == true | ConveyorJoystick.getRawButton(4)) {
       m_ConveyorSubsystem.reverseConveyor();
       System.out.println("Conveyor Moving in Reverse");
diff --git a/src/main/java/frc/robot/commands/DumpControl.java b/src/main/java/frc/robot/commands/DumpControl.java
index 2bd1d0f..2bef950 100644
--- a/src/main/java/frc/robot/commands/DumpControl.java
+++ b/src/main/java/frc/robot/commands/DumpControl.java
@@ -29,10 +29,8 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // TODO: Change this to the correct button
     if (DumpJoystick.getRawButton(1)) {
       DumpSubsystem.open();
-      // TODO: Change this to the correct button
     } else if (DumpJoystick.getRawButton(2)) {
       DumpSubsystem.close();
     }
diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
index f45cc81..a7643e5 100644
--- a/src/main/java/frc/robot/commands/FlyWCommand.java
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -24,7 +24,7 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (FlyWJoystick.getPOV() == 215 | FlyWJoystick.getPOV() == 0 | FlyWJoystick.getPOV() == 45) {
+    if (FlyWJoystick.getPOV() == 315 | FlyWJoystick.getPOV() == 0 | FlyWJoystick.getPOV() == 45) {
       m_FlyWSubsystem.enableflywheelfull();
     } else if (FlyWJoystick.getPOV() == 225 | FlyWJoystick.getPOV() == 180 | FlyWJoystick.getPOV() == 135) {
       m_FlyWSubsystem.enableflywheellow();

From a35a082d4ede92882dc1dd2914c48535c94cbc36 Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgramer
 <159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Fri, 8 Mar 2024 17:55:44 -0600
Subject: [PATCH 07/13] Fixed Dump

Dump commands were flipped (fixed), openThenClose starts death spiral that disables the bot. As a result, openThenClose has been abandoned for the time being.
---
 src/main/java/frc/robot/commands/ConveyorCommand.java | 3 ++-
 src/main/java/frc/robot/commands/FlyWCommand.java     | 7 +++++--
 src/main/java/frc/robot/commands/IntakeCommand.java   | 3 ++-
 src/main/java/frc/robot/subsystems/Dump.java          | 4 ++--
 4 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
index cf86812..159e06b 100644
--- a/src/main/java/frc/robot/commands/ConveyorCommand.java
+++ b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -6,13 +6,14 @@
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.OperatorConstants;
 import frc.robot.subsystems.Conveyor;
 
 public class ConveyorCommand extends Command {
   private final Conveyor m_ConveyorSubsystem;
   // controller
   // TODO: Change this to the correct controller
-  private final Joystick ConveyorJoystick = new Joystick(1);
+  private final Joystick ConveyorJoystick = new Joystick(OperatorConstants.COPILOT_CONTROLLER);
 
   public ConveyorCommand(Conveyor subsystem) {
     m_ConveyorSubsystem = subsystem;
diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
index a7643e5..b8df780 100644
--- a/src/main/java/frc/robot/commands/FlyWCommand.java
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -6,13 +6,14 @@
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.OperatorConstants;
 import frc.robot.subsystems.FlyWheel;
 
 public class FlyWCommand extends Command {
   private final FlyWheel m_FlyWSubsystem;
   // controller
   // TODO: Change this to the correct controller
-  private final Joystick FlyWJoystick = new Joystick(1);
+  private final Joystick FlyWJoystick = new Joystick(OperatorConstants.COPILOT_CONTROLLER);
 
   public FlyWCommand(FlyWheel subsystem) {
     m_FlyWSubsystem = subsystem;
@@ -26,7 +27,9 @@ public void initialize() {}
   public void execute() {
     if (FlyWJoystick.getPOV() == 315 | FlyWJoystick.getPOV() == 0 | FlyWJoystick.getPOV() == 45) {
       m_FlyWSubsystem.enableflywheelfull();
-    } else if (FlyWJoystick.getPOV() == 225 | FlyWJoystick.getPOV() == 180 | FlyWJoystick.getPOV() == 135) {
+    } else if (FlyWJoystick.getPOV() == 225
+        | FlyWJoystick.getPOV() == 180
+        | FlyWJoystick.getPOV() == 135) {
       m_FlyWSubsystem.enableflywheellow();
     } else if (FlyWJoystick.getRawButton(12) == true) {
       m_FlyWSubsystem.enableflywheelreduced();
diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java
index ff0c9d9..91a7c32 100644
--- a/src/main/java/frc/robot/commands/IntakeCommand.java
+++ b/src/main/java/frc/robot/commands/IntakeCommand.java
@@ -6,13 +6,14 @@
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.OperatorConstants;
 import frc.robot.subsystems.Intake;
 
 public class IntakeCommand extends Command {
   private final Intake m_intakeSubsystem;
   // controller
   // TODO: Change this to the correct controller
-  private final Joystick IntakeJoystick = new Joystick(1);
+  private final Joystick IntakeJoystick = new Joystick(OperatorConstants.COPILOT_CONTROLLER);
 
   public IntakeCommand(Intake subsystem) {
     m_intakeSubsystem = subsystem;
diff --git a/src/main/java/frc/robot/subsystems/Dump.java b/src/main/java/frc/robot/subsystems/Dump.java
index cf3ad1f..97be7f2 100644
--- a/src/main/java/frc/robot/subsystems/Dump.java
+++ b/src/main/java/frc/robot/subsystems/Dump.java
@@ -29,13 +29,13 @@ public Dump() {
   }
 
   /** Opens the piston */
-  public void open() {
+  public void close() {
     doubleSolenoid.set(DoubleSolenoid.Value.kForward);
     SmartDashboard.putBoolean(getName(), true);
   }
 
   /** Closes the piston */
-  public void close() {
+  public void open() {
     doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
     SmartDashboard.putBoolean(getName(), false);
   }

From 5f8df6452dbfa525c9a94aadc6c10d7bcf3d489e Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgramer
 <159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Fri, 8 Mar 2024 18:04:01 -0600
Subject: [PATCH 08/13] Fixed Conveyor Direction

STILL NEEDS REVIEW WITH BOTH BELTS FUNCTIONAL! But it seems that the problem is fixed.
---
 src/main/java/frc/robot/commands/ConveyorCommand.java |  7 ++++---
 src/main/java/frc/robot/subsystems/Conveyor.java      | 10 +++++-----
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
index 159e06b..fdcb2c2 100644
--- a/src/main/java/frc/robot/commands/ConveyorCommand.java
+++ b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -26,8 +26,9 @@ public void initialize() {}
   @Override
   public void execute() {
     if (ConveyorJoystick.getRawButton(5) == true | ConveyorJoystick.getRawButton(3) == true) {
-      m_ConveyorSubsystem.enableConveyor();
-    } else if (ConveyorJoystick.getRawButton(6) == true | ConveyorJoystick.getRawButton(4)) {
+      m_ConveyorSubsystem.intakeConveyor();
+    } else if (ConveyorJoystick.getRawButton(6) == true
+        | ConveyorJoystick.getRawButton(4) == true) {
       m_ConveyorSubsystem.reverseConveyor();
       System.out.println("Conveyor Moving in Reverse");
     } else {
@@ -38,7 +39,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     m_ConveyorSubsystem.disableConveyor();
-    m_ConveyorSubsystem.enableConveyor();
+    m_ConveyorSubsystem.intakeConveyor();
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Conveyor.java b/src/main/java/frc/robot/subsystems/Conveyor.java
index 1e453cf..745b04a 100644
--- a/src/main/java/frc/robot/subsystems/Conveyor.java
+++ b/src/main/java/frc/robot/subsystems/Conveyor.java
@@ -23,9 +23,9 @@ public Conveyor() {
   }
 
   /** Sets the Conveyor motors to 100% power. */
-  public void enableConveyor() {
-    conveyorMotor1.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
-    conveyorMotor2.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
+  public void intakeConveyor() {
+    conveyorMotor1.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor2.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
   }
 
   /** Sets the Conveyor motors to 0% power. */
@@ -36,8 +36,8 @@ public void disableConveyor() {
 
   /** Sets the Conveyor motors to -100% power. (Reverse direction) */
   public void reverseConveyor() {
-    conveyorMotor1.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
-    conveyorMotor2.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor1.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor2.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
   }
 
   @Override

From 3767375703cd5df339565f259a6299b9efb01cef Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Sun, 10 Mar 2024 12:40:05 -0500
Subject: [PATCH 09/13] Attempt to fix Conveyor Direction

REQUIRES TESTING, IF IT DOES NOT WORK CHANGE CONVEYOR_MOTOR_1_INVERTED BACK TO TRUE AND 2 BACK TO FALSE
---
 src/main/java/frc/robot/Constants.java           | 4 ++--
 src/main/java/frc/robot/subsystems/Conveyor.java | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 683f0e5..042799c 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -82,8 +82,8 @@ public static class MechanismConstants {
     // Conveyor Motors
     public static final int CONVEYOR_MOTOR_1 = 1;
     public static final int CONVEYOR_MOTOR_2 = 2;
-    public static final boolean CONVEYOR_MOTOR_1_INVERTED = true;
-    public static final boolean CONVEYOR_MOTOR_2_INVERTED = false;
+    public static final boolean CONVEYOR_MOTOR_1_INVERTED = false;
+    public static final boolean CONVEYOR_MOTOR_2_INVERTED = true;
     public static final double CONVEYOR_MOTOR_SPEED = 0.38;
 
     // Flywheel Motors
diff --git a/src/main/java/frc/robot/subsystems/Conveyor.java b/src/main/java/frc/robot/subsystems/Conveyor.java
index 745b04a..4e81f2a 100644
--- a/src/main/java/frc/robot/subsystems/Conveyor.java
+++ b/src/main/java/frc/robot/subsystems/Conveyor.java
@@ -24,8 +24,8 @@ public Conveyor() {
 
   /** Sets the Conveyor motors to 100% power. */
   public void intakeConveyor() {
-    conveyorMotor1.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
-    conveyorMotor2.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor1.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor2.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
   }
 
   /** Sets the Conveyor motors to 0% power. */
@@ -36,8 +36,8 @@ public void disableConveyor() {
 
   /** Sets the Conveyor motors to -100% power. (Reverse direction) */
   public void reverseConveyor() {
-    conveyorMotor1.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
-    conveyorMotor2.set(MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor1.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
+    conveyorMotor2.set(-MechanismConstants.CONVEYOR_MOTOR_SPEED);
   }
 
   @Override

From c68fa81877f4590a5524ffb47a618d48ea973f89 Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Mon, 11 Mar 2024 21:29:42 -0500
Subject: [PATCH 10/13] Added backup buttons

Added backup buttons for elevator control in the event that the throttle does not trigger actions correctly
---
 src/main/java/frc/robot/commands/ElevatorControl.java | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/java/frc/robot/commands/ElevatorControl.java b/src/main/java/frc/robot/commands/ElevatorControl.java
index 1706da0..00f4300 100644
--- a/src/main/java/frc/robot/commands/ElevatorControl.java
+++ b/src/main/java/frc/robot/commands/ElevatorControl.java
@@ -33,6 +33,12 @@ public void execute() {
       ElevatorSubsystem.up();
     } else if (ElevatorJoystick.getThrottle() >= 0.85) {
       ElevatorSubsystem.down();
+    } else if (ElevatorJoystick.getRawButton(10)) {
+      ElevatorSubsystem.up();
+      System.out.println("BACKUP ELEVATOR ASCENT ACTIVATED");
+    } else if (ElevatorJoystick.getRawButton(9)) {
+      ElevatorSubsystem.down();
+      System.out.println("BACKUP ELEVATOR DESCENT ACTIVATED");
     }
   }
 

From 2ede5f1779f7f7d24273d4b9a60cfdb13cb8edd1 Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Mon, 11 Mar 2024 21:35:46 -0500
Subject: [PATCH 11/13] Undid Previous Commit

Kinda useless
---
 src/main/java/frc/robot/commands/ElevatorControl.java | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ElevatorControl.java b/src/main/java/frc/robot/commands/ElevatorControl.java
index 00f4300..1706da0 100644
--- a/src/main/java/frc/robot/commands/ElevatorControl.java
+++ b/src/main/java/frc/robot/commands/ElevatorControl.java
@@ -33,12 +33,6 @@ public void execute() {
       ElevatorSubsystem.up();
     } else if (ElevatorJoystick.getThrottle() >= 0.85) {
       ElevatorSubsystem.down();
-    } else if (ElevatorJoystick.getRawButton(10)) {
-      ElevatorSubsystem.up();
-      System.out.println("BACKUP ELEVATOR ASCENT ACTIVATED");
-    } else if (ElevatorJoystick.getRawButton(9)) {
-      ElevatorSubsystem.down();
-      System.out.println("BACKUP ELEVATOR DESCENT ACTIVATED");
     }
   }
 

From 29661e51865c5a327dbb176c8768c43063e6f93b Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Mon, 11 Mar 2024 21:45:19 -0500
Subject: [PATCH 12/13] Removed a TODO

Removed a TODO and an empty space
---
 src/main/java/frc/robot/commands/ConveyorCommand.java | 1 -
 src/main/java/frc/robot/commands/ElevatorControl.java | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
index fdcb2c2..1883c3d 100644
--- a/src/main/java/frc/robot/commands/ConveyorCommand.java
+++ b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -12,7 +12,6 @@
 public class ConveyorCommand extends Command {
   private final Conveyor m_ConveyorSubsystem;
   // controller
-  // TODO: Change this to the correct controller
   private final Joystick ConveyorJoystick = new Joystick(OperatorConstants.COPILOT_CONTROLLER);
 
   public ConveyorCommand(Conveyor subsystem) {
diff --git a/src/main/java/frc/robot/commands/ElevatorControl.java b/src/main/java/frc/robot/commands/ElevatorControl.java
index 1706da0..9745c3a 100644
--- a/src/main/java/frc/robot/commands/ElevatorControl.java
+++ b/src/main/java/frc/robot/commands/ElevatorControl.java
@@ -45,4 +45,4 @@ public void end(boolean interrupted) {}
   public boolean isFinished() {
     return false;
   }
-}
+}
\ No newline at end of file

From 9be43bc58d7708ebe9310704c28a87b3db7f0493 Mon Sep 17 00:00:00 2001
From: EuphoniumPlayer <chasewmanzella@gmail.com>
Date: Mon, 11 Mar 2024 22:06:57 -0500
Subject: [PATCH 13/13] Reformatted Input Detections

Reformatted to make the if (true)'s less lengthy and messy. Additionally, the fly wheels now reverse from button 11 AND 7 (pulled it closer). One more thing, the conveyor can now be controlled separately from other parts of the intake by using button 9 to reverse it and button 10 to advance it.
---
 .../java/frc/robot/commands/ConveyorCommand.java |  5 ++---
 .../java/frc/robot/commands/ElevatorControl.java |  6 +++---
 .../java/frc/robot/commands/FlyWCommand.java     | 10 ++++------
 .../java/frc/robot/commands/IntakeCommand.java   | 16 ++++++++--------
 src/main/java/frc/robot/subsystems/Intake.java   |  4 ++--
 5 files changed, 19 insertions(+), 22 deletions(-)

diff --git a/src/main/java/frc/robot/commands/ConveyorCommand.java b/src/main/java/frc/robot/commands/ConveyorCommand.java
index 1883c3d..4997710 100644
--- a/src/main/java/frc/robot/commands/ConveyorCommand.java
+++ b/src/main/java/frc/robot/commands/ConveyorCommand.java
@@ -24,10 +24,9 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (ConveyorJoystick.getRawButton(5) == true | ConveyorJoystick.getRawButton(3) == true) {
+    if (ConveyorJoystick.getRawButton(5 | 3 | 10)) {
       m_ConveyorSubsystem.intakeConveyor();
-    } else if (ConveyorJoystick.getRawButton(6) == true
-        | ConveyorJoystick.getRawButton(4) == true) {
+    } else if (ConveyorJoystick.getRawButton(6 | 4 | 9)) {
       m_ConveyorSubsystem.reverseConveyor();
       System.out.println("Conveyor Moving in Reverse");
     } else {
diff --git a/src/main/java/frc/robot/commands/ElevatorControl.java b/src/main/java/frc/robot/commands/ElevatorControl.java
index 9745c3a..e23517a 100644
--- a/src/main/java/frc/robot/commands/ElevatorControl.java
+++ b/src/main/java/frc/robot/commands/ElevatorControl.java
@@ -29,9 +29,9 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (ElevatorJoystick.getThrottle() <= -0.85) {
+    if (ElevatorJoystick.getThrottle() <= -0.75) {
       ElevatorSubsystem.up();
-    } else if (ElevatorJoystick.getThrottle() >= 0.85) {
+    } else if (ElevatorJoystick.getThrottle() >= 0.75) {
       ElevatorSubsystem.down();
     }
   }
@@ -45,4 +45,4 @@ public void end(boolean interrupted) {}
   public boolean isFinished() {
     return false;
   }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/commands/FlyWCommand.java b/src/main/java/frc/robot/commands/FlyWCommand.java
index b8df780..3b8b995 100644
--- a/src/main/java/frc/robot/commands/FlyWCommand.java
+++ b/src/main/java/frc/robot/commands/FlyWCommand.java
@@ -25,15 +25,13 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (FlyWJoystick.getPOV() == 315 | FlyWJoystick.getPOV() == 0 | FlyWJoystick.getPOV() == 45) {
+    if (FlyWJoystick.getPOV() == (315 | 0 | 45)) {
       m_FlyWSubsystem.enableflywheelfull();
-    } else if (FlyWJoystick.getPOV() == 225
-        | FlyWJoystick.getPOV() == 180
-        | FlyWJoystick.getPOV() == 135) {
+    } else if (FlyWJoystick.getPOV() == (225 | 180 | 135)) {
       m_FlyWSubsystem.enableflywheellow();
-    } else if (FlyWJoystick.getRawButton(12) == true) {
+    } else if (FlyWJoystick.getRawButton(12)) {
       m_FlyWSubsystem.enableflywheelreduced();
-    } else if (FlyWJoystick.getRawButton(7) == true) {
+    } else if (FlyWJoystick.getRawButton(11 | 7)) {
       m_FlyWSubsystem.reverseflywheel();
       System.out.println("Flywheels Moving in Reverse");
     } else {
diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java
index 91a7c32..753e63e 100644
--- a/src/main/java/frc/robot/commands/IntakeCommand.java
+++ b/src/main/java/frc/robot/commands/IntakeCommand.java
@@ -25,18 +25,18 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    if (IntakeJoystick.getRawButton(5) == true) {
-      // sushi in
+    if (IntakeJoystick.getRawButton(5)) {
+      // sushi + Conveyor in
       m_intakeSubsystem.enableIntakeSushi();
-    } else if (IntakeJoystick.getRawButton(3) == true) {
-      // front in
+    } else if (IntakeJoystick.getRawButton(3)) {
+      // front + Conveyor in
       m_intakeSubsystem.enableIntakeFront();
-    } else if (IntakeJoystick.getRawButton(4) == true) {
-      // front out
+    } else if (IntakeJoystick.getRawButton(4)) {
+      // front + Conveyor out
       m_intakeSubsystem.reverseIntakeFront();
       System.out.println("Front Rollers Moving in Reverse");
-    } else if (IntakeJoystick.getRawButton(6) == true) {
-      // sushi out
+    } else if (IntakeJoystick.getRawButton(6)) {
+      // sushi + Conveyor out
       m_intakeSubsystem.reverseIntakeSushi();
       System.out.println("Sushi Rollers Moving in Reverse");
     } else {
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 56ce047..01acf35 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -39,13 +39,13 @@ public void enableIntakeFront() {
     intakeFront.set(MechanismConstants.INTAKE_MOTOR_SPEED_FRONT);
   }
 
-  /** Sets the intake motors to 0% power. */
+  /** Sets both intake motors to 0% power. */
   public void disableIntake() {
     intakeSushi.set(0);
     intakeFront.set(0);
   }
 
-  /** Sets the intake motors to -100% power. (Reverse direction) */
+  /** Sets the sushi motors to -100% power. (Reverse direction) */
   public void reverseIntakeSushi() {
     intakeSushi.set(-MechanismConstants.INTAKE_MOTOR_SPEED_SUSHI);
   }