well shit

the cims ain't working

.DataLogTool/datalogtool.json

@@ -0,0 +1 @@
+{}

src/main/java/frc/robot/Constants.java

@@ -87,8 +87,10 @@ public static final class drive {
                 public static final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotorController,
                                 m_rightMotorController);
 
-                public static final double DRIVE_SPEED = 0.8;
-                public static final double TURN_SPEED = 0.8;
+                public static final int CURRENT_LIMIT = 50;
+
+                public static final double DRIVE_SPEED = 1;
+                public static final double TURN_SPEED = 1;
 
                 public static final boolean LEFT_FRONT_INVERTED = false;
                 public static final boolean LEFT_REAR_INVERTED = false;
@@ -105,8 +107,8 @@ public static final class intake {
                 public static final double CONE_SPEED = 0.3;
                 public static final double CUBE_SPEED = -0.3;
 
-                public static final Value intakeDown = Value.kReverse;
-                public static final Value intakeUp = Value.kForward;
+                public static final Value intakeDown = Value.kForward;
+                public static final Value intakeUp = Value.kReverse;
                 public static final Value intakeOff = Value.kOff;
         }
 

src/main/java/frc/robot/Robot.java

@@ -138,28 +138,13 @@ public void teleopInit() {
     // also accurate
     m_leftElevator.zero();
     m_rightElevator.zero();
-    new First(m_shifter);
+    new Second(m_shifter);
   }
 
   /** This function is called periodically during operator control. */
   @Override
   public void teleopPeriodic() {
-    if (RobotContainer.m_filteredController.getPOVPressed().getAsBoolean()) {
-      new Runnable() {
-        @Override
-        public void run() {
-          if (!RobotContainer.readAuto) {
-            RobotContainer.readAuto = true;
-            m_autoSubsystem.clearShit();
-            System.out.println("Started - Begin Tracking Autonomous");
-          } else {
-            RobotContainer.readAuto = false;
-            System.out.println("Ended - Finished Tracking Autonomous");
-            m_autoSubsystem.printSpeeds();
-          }
-        }
-      };
-    }
+
   }
 
   @Override

src/main/java/frc/robot/RobotContainer.java

@@ -11,6 +11,7 @@
 import frc.robot.commands.IntakeCubeCommand;
 import frc.robot.commands.IntakeDown;
 import frc.robot.commands.IntakeUp;
+import frc.robot.commands.RecordAuto;
 import frc.robot.commands.Second;
 import frc.robot.commands.ZeroSlides;
 import frc.robot.commands.ArcadeDrive;
@@ -129,6 +130,8 @@ private void configureButtonBindings() {
     xButton.onTrue(new IntakeDown(m_intake));
     yButton.onTrue(new IntakeUp(m_intake));
 
+    POV.debounce(0.2).whileTrue(new RecordAuto(m_autoSubsystem));
+
   }
 
 }

src/main/java/frc/robot/commands/AutoCommand.java

@@ -1,6 +1,5 @@
 package frc.robot.commands;
 
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.AutoSubsystem;
 

src/main/java/frc/robot/commands/RecordAuto.java

@@ -0,0 +1,40 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.AutoSubsystem;
+
+public class RecordAuto extends CommandBase {
+    private final AutoSubsystem m_autoSubsystem;
+
+    //constructor
+    public RecordAuto(AutoSubsystem autoSubsystem) {
+        this.m_autoSubsystem = autoSubsystem;
+    }
+
+    @Override
+    public void initialize() {
+
+              if (!RobotContainer.readAuto) {
+                RobotContainer.readAuto = true;
+                m_autoSubsystem.clearShit();
+                System.out.println("Started - Begin Tracking Autonomous");
+              } else {
+                RobotContainer.readAuto = false;
+                System.out.println("Ended - Finished Tracking Autonomous");
+                m_autoSubsystem.printSpeeds();
+              }
+            }
+
+
+
+    /**
+     * This function ensures when the action is complete, the robot stops moving
+     * 
+     * @param interrupted
+     */
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+}

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -30,6 +30,10 @@ public Drivetrain() {
     Constants.controllers.leftRearSpark.setInverted(Constants.drive.LEFT_REAR_INVERTED);
     Constants.controllers.rightFrontSpark.setInverted(Constants.drive.RIGHT_FRONT_INVERTED);
     Constants.controllers.rightRearSpark.setInverted(Constants.drive.RIGHT_REAR_INVERTED);
+    Constants.controllers.leftFrontSpark.setSmartCurrentLimit(Constants.drive.CURRENT_LIMIT);
+    Constants.controllers.rightFrontSpark.setSmartCurrentLimit(Constants.drive.CURRENT_LIMIT);
+    Constants.controllers.leftRearSpark.setSmartCurrentLimit(Constants.drive.CURRENT_LIMIT);
+    Constants.controllers.rightRearSpark.setSmartCurrentLimit(Constants.drive.CURRENT_LIMIT);
     // Encoders may measure differently in the real world and in
     // simulation. In this example the robot moves 0.042 barleycorns
     // per tick in the real world, but the simulated encoders
@@ -52,13 +56,21 @@ public void log() {
     SmartDashboard.putNumber("Left Speed", Constants.sensors.m_leftDriveEncoder.getRate());
     SmartDashboard.putNumber("Right Speed", Constants.sensors.m_rightDriveEncoder.getRate());
     SmartDashboard.putData("Drivetrain", Constants.drive.m_drive);
+    SmartDashboard.putNumber("FrontLeft Temp", Constants.controllers.leftFrontSpark.getMotorTemperature());
+    SmartDashboard.putNumber("BackLeft Temp", Constants.controllers.leftRearSpark.getMotorTemperature());
+    SmartDashboard.putNumber("FrontRight Temp", Constants.controllers.rightFrontSpark.getMotorTemperature());
+    SmartDashboard.putNumber("BackRight Temp", Constants.controllers.rightRearSpark.getMotorTemperature());
+    SmartDashboard.putNumber("FrontLeft Current", Constants.controllers.leftFrontSpark.getOutputCurrent());
+    SmartDashboard.putNumber("BackLeft Current", Constants.controllers.leftRearSpark.getOutputCurrent());
+    SmartDashboard.putNumber("FrontRight Current", Constants.controllers.rightFrontSpark.getOutputCurrent());
+    SmartDashboard.putNumber("BackRight Current", Constants.controllers.rightRearSpark.getOutputCurrent());
   }
 
   /**
-   * Tank style driving for the Drivetrain.
+   * Arcade style driving for the Drivetrain.
    *
    * @param throttle  Speed in range [-1,1]
-   * @param turn Speed in range [-1,1]
+   * @param rotation Speed in range [-1,1]
    */
   public void drive(double throttle, double rotation) {
     this.throttle = throttle;