do stuff

src/main/java/edu/bearbots/BearLib/drivebase/Drivebase.java

@@ -0,0 +1,60 @@
+package edu.bearbots.BearLib.drivebase;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.REVLibError;
+import com.revrobotics.CANSparkMax.IdleMode;
+
+import java.util.Map;
+
+/**
+ * Abstract class to handle common drivebase motor controller functions.
+ */
+public abstract class Drivebase {
+  // for all drive bases? don't implement motors
+  // odometry
+  // driving
+  // move to
+
+  /**
+   * Sets the current limit for Spark Max motor controllers, given a free limit
+   * and a stall limit (in amps) as well as any number of Spark Maxes.
+   * 
+   * @param freeLimit  The free limit (in amps)
+   * @param stallLimit The stall limit (in amps)
+   * @param motor      The Spark Maxes
+   * @return An array of errors, if any
+   */
+  public REVLibError[] setCurrentLimit(int freeLimit, int stallLimit, CANSparkMax... motor) {
+    REVLibError[] errors = new REVLibError[motor.length];
+    int i = 0;
+
+    for (CANSparkMax m : motor) {
+      errors[i] = m.setSmartCurrentLimit(freeLimit, stallLimit);
+      i++;
+    }
+
+    return errors;
+  }
+
+
+  /**
+   * Sets the idle mode for Spark Max motor controllers, given an idle mode and
+   * any number of Spark Maxes.
+   * 
+   * @param mode  The idle mode
+   * @param motor The Spark Maxes
+   * @return An array of errors, if any
+   */
+  public REVLibError[] setIdleMode(IdleMode mode, CANSparkMax... motor) {
+    REVLibError[] errors = new REVLibError[motor.length];
+    int i = 0;
+
+    for (CANSparkMax m : motor) {
+      errors[i] = m.setIdleMode(mode);
+      i++;
+    }
+
+    return errors;
+  }
+}
+// inclue

src/main/java/edu/bearbots/BearLib/drivebase/MecanumDrivebase.java

@@ -0,0 +1,4 @@
+package edu.bearbots.BearLib.drivebase;
+
+public abstract class MecanumDrivebase extends Drivebase {
+}

src/main/java/edu/bearbots/BearLib/drivebase/SwerveDrivebase.java

@@ -0,0 +1,4 @@
+package edu.bearbots.BearLib.drivebase;
+
+public abstract class SwerveDrivebase extends Drivebase {
+}

src/main/java/edu/bearbots/BearLib/drivebase/TankDrivebase.java

@@ -0,0 +1,4 @@
+package edu.bearbots.BearLib.drivebase;
+
+public abstract class TankDrivebase extends Drivebase {
+}

src/main/java/frc/robot/RebindHat.java

@@ -1,19 +1,11 @@
 package frc.robot;
+
 /** @deprecated */
+// dude come onthis is the deffinition fo unnesseary complecity
 @Deprecated
 public class RebindHat {
   public static double JoystickToYAxis() {
-    if (RobotContainer.m_armController.getPOV() == -1
-        || RobotContainer.m_armController.getPOV() == 90
-        || RobotContainer.m_armController.getPOV() == 270) {
-      return 0;
-    }
-    if (RobotContainer.m_armController.getPOV() > 270
-        || RobotContainer.m_armController.getPOV() < 90) {
-      return 1;
-    } else {
-      return -1;
-    }
+
   }
 
   public static double JoystickToXAxis() {

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

@@ -11,7 +11,9 @@
 import frc.robot.subsystems.PID;
 import frc.robot.subsystems.Tank;
 
-/** This command balances the robot on the charge station. Default auto command. */
+/**
+ * This command balances the robot on the charge station. Default auto command.
+ */
 public class BalanceCommand extends CommandBase {
   @SuppressWarnings({ "PMD.UnusedPrivateField", "PMD.SingularField" })
   private final PID pidLoop;
@@ -53,17 +55,18 @@ public void execute() {
     SmartDashboard.putNumber("max offset", maxPitch);
     SmartDashboard.putNumber(
         "motor speed", Constants.OperatorConstants.Pconstant * (pitchOffset));
-    if (pitchOffset > maxPitch) {
-      maxPitch = pitchOffset;
-    }
+    /*
+     * if (pitchOffset > maxPitch) {
+     * maxPitch = pitchOffset;
+     * }
+     */
 
     // set boolean to true when robot is on ramp to run p loop
     if (!onRamp && pitchOffset >= 16) {
       onRamp = true;
     }
 
     if (onRamp) {
-      onRamp = true;
       // dead zone of tilt
       if (Math.abs(pitchOffset) < 2) {
         driveBase.setAllMotors(0);
@@ -76,6 +79,7 @@ public void execute() {
 
   @Override
   public void end(boolean interrupted) {
+    // not used
   }
 
   @Override

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

@@ -50,28 +50,21 @@ public Arm() {
 
   @Override
   public void periodic() {
-    SmartDashboard.putBoolean("zeroDeg", allTheWayDownRear.get());
+    // SmartDashboard.putBoolean("zeroDeg", allTheWayDownRear.get());
 
     encoderWidget.setDouble(armMotor.getEncoder().getPosition());
   }
 
-  public void moveArm(double leftStickYaxis) {
+  /**
+   * uses input double value to set the motor speed of the arm
+   */
+  public void moveArm(double value) {
     double speed = 0.8;
-    double motorDrive = leftStickYaxis * speed;
+    double motorDrive = value * speed;
     armMotor.set(motorDrive);
   }
 
   public void moveArmToZeroDeg() {
-    double speedY = 0.2;
-    while (allTheWayDownRear
-        .get()) { // the '== true' is implied, because the if statement is looking for the
-      // expression to be true. If it is false, it will not run the code inside the if
-      // statement, so we don't need to write it.
-      armMotor.set(-1 * speedY);
-    }
-    armMotor.set(0);
-    armMotor.getEncoder().setPosition(0);
-    currentArmAngle = 0;
   }
 
   @Override

src/main/java/frc/robot/FieldConstants.java → src/main/java/frc/robot/subsystems/FieldConstants.java

@@ -5,7 +5,7 @@
 // license that can be found in the LICENSE file at
 // the root directory of this project.
 
-package frc.robot;
+package frc.robot.subsystems;
 
 import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;