diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index f5209ad..c892adc 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -1,23 +1,19 @@
package frc.robot;
-import frc.robot.commands.swerve.*;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import frc.robot.commands.Agitator.*;
import frc.robot.commands.Climber.*;
import frc.robot.commands.Intake.*;
import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.LED.LEDRuntime;
import frc.robot.commands.Serializer.*;
-import frc.robot.commands.Servo.deployHyperLoop;
-import frc.robot.commands.Servo.retractHyperLoop;
-import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj2.command.ConditionalCommand;
-import frc.robot.Robot;
-import frc.robot.nerdyfiles.controller.*;
+import frc.robot.commands.Servo.*;
import frc.robot.commands.Shooter.*;
import frc.robot.commands.ShooterSystem.*;
-import frc.robot.commands.Vision.limeLightLEDOff;
-import frc.robot.commands.Vision.limeLightLEDOn;
-import frc.robot.commands.Vision.setBallTracking;
+import frc.robot.commands.Vision.*;
+import frc.robot.commands.swerve.*;
+import frc.robot.nerdyfiles.controller.*;
+
/**
* OI Class where all controllers and button presses are placed
diff --git a/src/main/java/frc/robot/commands/Agitator/runAgitator.java b/src/main/java/frc/robot/commands/Agitator/runAgitator.java
index 5b411e1..da21a94 100644
--- a/src/main/java/frc/robot/commands/Agitator/runAgitator.java
+++ b/src/main/java/frc/robot/commands/Agitator/runAgitator.java
@@ -1,9 +1,7 @@
package frc.robot.commands.Agitator;
-import frc.robot.Constants;
-import frc.robot.subsystems.Agitator;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.Agitator;
/**
* Sets the agitator speed
diff --git a/src/main/java/frc/robot/commands/Climber/activateClimber.java b/src/main/java/frc/robot/commands/Climber/activateClimber.java
index e79175c..04a9de8 100644
--- a/src/main/java/frc/robot/commands/Climber/activateClimber.java
+++ b/src/main/java/frc/robot/commands/Climber/activateClimber.java
@@ -1,10 +1,7 @@
package frc.robot.commands.Climber;
-import frc.robot.Constants;
-import frc.robot.Robot;
-import frc.robot.subsystems.Climber;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.Climber;
/**
* Sets the climber speed
diff --git a/src/main/java/frc/robot/commands/Climber/runClimber.java b/src/main/java/frc/robot/commands/Climber/runClimber.java
index 025b8f5..56913a4 100644
--- a/src/main/java/frc/robot/commands/Climber/runClimber.java
+++ b/src/main/java/frc/robot/commands/Climber/runClimber.java
@@ -1,11 +1,7 @@
package frc.robot.commands.Climber;
-import frc.robot.Constants;
-import frc.robot.Robot;
-import frc.robot.subsystems.Climber;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.Climber;
/**
* Sets the climber speed
diff --git a/src/main/java/frc/robot/commands/Climber/runClimberJoystick.java b/src/main/java/frc/robot/commands/Climber/runClimberJoystick.java
index 85dbe09..1704c43 100644
--- a/src/main/java/frc/robot/commands/Climber/runClimberJoystick.java
+++ b/src/main/java/frc/robot/commands/Climber/runClimberJoystick.java
@@ -1,14 +1,10 @@
package frc.robot.commands.Climber;
-import frc.robot.Constants;
-import frc.robot.Robot;
-import frc.robot.subsystems.Climber;
-
import com.ctre.phoenix.motorcontrol.ControlMode;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.Robot;
+import frc.robot.subsystems.Climber;
/**
* Sets the climber speed
diff --git a/src/main/java/frc/robot/commands/KickerWheel/stopKicker.java b/src/main/java/frc/robot/commands/KickerWheel/stopKicker.java
index 1181028..9e35473 100644
--- a/src/main/java/frc/robot/commands/KickerWheel/stopKicker.java
+++ b/src/main/java/frc/robot/commands/KickerWheel/stopKicker.java
@@ -1,12 +1,10 @@
package frc.robot.commands.KickerWheel;
-import frc.robot.Robot;
-import frc.robot.subsystems.KickerWheel;
-
-import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.revrobotics.CANSparkMax.IdleMode;
import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.Robot;
+import frc.robot.subsystems.KickerWheel;
/**
* A command that stops the kicker wheel using the kicker subsystem.
diff --git a/src/main/java/frc/robot/commands/Serializer/serializerBallControl.java b/src/main/java/frc/robot/commands/Serializer/serializerBallControl.java
index be1151c..4ed3513 100644
--- a/src/main/java/frc/robot/commands/Serializer/serializerBallControl.java
+++ b/src/main/java/frc/robot/commands/Serializer/serializerBallControl.java
@@ -1,10 +1,9 @@
package frc.robot.commands.Serializer;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.subsystems.Serializer;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* A command that sets the kicker speed using the Kicker subsystem.
diff --git a/src/main/java/frc/robot/commands/TimeOfFlight/findSensor.java b/src/main/java/frc/robot/commands/TimeOfFlight/findSensor.java
index 7454ed4..6316584 100644
--- a/src/main/java/frc/robot/commands/TimeOfFlight/findSensor.java
+++ b/src/main/java/frc/robot/commands/TimeOfFlight/findSensor.java
@@ -1,7 +1,7 @@
package frc.robot.commands.TimeOfFlight;
-import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.TimeOfFlight;
/**
diff --git a/src/main/java/frc/robot/commands/Vision/limeLightLEDOff.java b/src/main/java/frc/robot/commands/Vision/limeLightLEDOff.java
index 6dd22b7..6f34c8b 100644
--- a/src/main/java/frc/robot/commands/Vision/limeLightLEDOff.java
+++ b/src/main/java/frc/robot/commands/Vision/limeLightLEDOff.java
@@ -1,8 +1,8 @@
package frc.robot.commands.Vision;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.Robot;
import frc.robot.subsystems.Vision;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
/**
* Limelight LED will turn off
diff --git a/src/main/java/frc/robot/commands/Vision/limeLightLEDOn.java b/src/main/java/frc/robot/commands/Vision/limeLightLEDOn.java
index 3b3ba01..4c26a96 100644
--- a/src/main/java/frc/robot/commands/Vision/limeLightLEDOn.java
+++ b/src/main/java/frc/robot/commands/Vision/limeLightLEDOn.java
@@ -1,8 +1,8 @@
package frc.robot.commands.Vision;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.Robot;
import frc.robot.subsystems.Vision;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
/**
* Limelight LEDs will turn on
diff --git a/src/main/java/frc/robot/commands/auto/AutoDriveWithJoystickInput.java b/src/main/java/frc/robot/commands/auto/AutoDriveWithJoystickInput.java
index 52f26e1..4bb9a02 100644
--- a/src/main/java/frc/robot/commands/auto/AutoDriveWithJoystickInput.java
+++ b/src/main/java/frc/robot/commands/auto/AutoDriveWithJoystickInput.java
@@ -1,10 +1,9 @@
package frc.robot.commands.auto;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.subsystems.SwerveDrivetrain;
-import edu.wpi.first.hal.sim.ConstBufferCallback;
-import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Sets the forwards value to a set a mock joystick value
diff --git a/src/main/java/frc/robot/commands/auto/AutoResetRampRate.java b/src/main/java/frc/robot/commands/auto/AutoResetRampRate.java
index 6b951e3..ce986d7 100644
--- a/src/main/java/frc/robot/commands/auto/AutoResetRampRate.java
+++ b/src/main/java/frc/robot/commands/auto/AutoResetRampRate.java
@@ -1,8 +1,8 @@
package frc.robot.commands.auto;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.Robot;
import frc.robot.subsystems.OperatorAngleAdjustment;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
/**
* Resets the ramp rate on the shooter to be zero
diff --git a/src/main/java/frc/robot/commands/auto/AutoRotateWithJoystickInput.java b/src/main/java/frc/robot/commands/auto/AutoRotateWithJoystickInput.java
index ca3f80f..bef25c5 100644
--- a/src/main/java/frc/robot/commands/auto/AutoRotateWithJoystickInput.java
+++ b/src/main/java/frc/robot/commands/auto/AutoRotateWithJoystickInput.java
@@ -1,10 +1,8 @@
package frc.robot.commands.auto;
-import frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Robot;
import frc.robot.subsystems.SwerveDrivetrain;
-import edu.wpi.first.hal.sim.ConstBufferCallback;
-import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Sets the forwards value to a set a mock joystick value
diff --git a/src/main/java/frc/robot/commands/auto/AutoRotateWithVision.java b/src/main/java/frc/robot/commands/auto/AutoRotateWithVision.java
index a74b204..bad49f0 100644
--- a/src/main/java/frc/robot/commands/auto/AutoRotateWithVision.java
+++ b/src/main/java/frc/robot/commands/auto/AutoRotateWithVision.java
@@ -1,10 +1,9 @@
package frc.robot.commands.auto;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.subsystems.SwerveDrivetrain;
-import edu.wpi.first.hal.sim.ConstBufferCallback;
-import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Sets the forwards value to a set a mock joystick value
diff --git a/src/main/java/frc/robot/commands/auto/AutoStrafeWithPixy.java b/src/main/java/frc/robot/commands/auto/AutoStrafeWithPixy.java
index 5afadc7..9f16512 100644
--- a/src/main/java/frc/robot/commands/auto/AutoStrafeWithPixy.java
+++ b/src/main/java/frc/robot/commands/auto/AutoStrafeWithPixy.java
@@ -1,10 +1,9 @@
package frc.robot.commands.auto;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.subsystems.SwerveDrivetrain;
-import edu.wpi.first.hal.sim.ConstBufferCallback;
-import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Sets the forwards value to a set a mock joystick value
diff --git a/src/main/java/frc/robot/commands/auto/autoBallCounter.java b/src/main/java/frc/robot/commands/auto/autoBallCounter.java
index 6807392..6113fbc 100644
--- a/src/main/java/frc/robot/commands/auto/autoBallCounter.java
+++ b/src/main/java/frc/robot/commands/auto/autoBallCounter.java
@@ -1,12 +1,5 @@
package frc.robot.commands.auto;
-import frc.robot.Constants;
-import frc.robot.Constants.Swerve;
-import frc.robot.subsystems.OperatorAngleAdjustment;
-import frc.robot.subsystems.SwerveDrivetrain;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
-
-import edu.wpi.first.wpilibj.Counter;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
diff --git a/src/main/java/frc/robot/commands/auto/checkShooterVelocity.java b/src/main/java/frc/robot/commands/auto/checkShooterVelocity.java
index ac7e087..fb27303 100644
--- a/src/main/java/frc/robot/commands/auto/checkShooterVelocity.java
+++ b/src/main/java/frc/robot/commands/auto/checkShooterVelocity.java
@@ -1,12 +1,8 @@
package frc.robot.commands.auto;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Robot;
-import frc.robot.Constants.Swerve;
import frc.robot.subsystems.Serializer;
-import frc.robot.subsystems.SwerveDrivetrain;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Sets the module angles to the desired rotation angle and rotates the robot a specified direction, either left or right
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootNineBall.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootNineBall.java
index eceea5c..4551795 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootNineBall.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootNineBall.java
@@ -3,8 +3,8 @@
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Shooter.stopShooter;
-import frc.robot.commands.auto.checkShooterVelocity;
+import frc.robot.commands.Shooter.*;
+import frc.robot.commands.auto.*;
import frc.robot.commands.auto.commandgroups.common.systemactions.*;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootSixBall.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootSixBall.java
index 3ccf432..a78a65d 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootSixBall.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootSixBall.java
@@ -3,8 +3,8 @@
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Shooter.stopShooter;
-import frc.robot.commands.auto.checkShooterVelocity;
+import frc.robot.commands.Shooter.*;
+import frc.robot.commands.auto.*;
import frc.robot.commands.auto.commandgroups.common.systemactions.*;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootThreeBall.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootThreeBall.java
index dd933a7..f0e6a07 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootThreeBall.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/ShootThreeBall.java
@@ -3,8 +3,8 @@
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Shooter.stopShooter;
-import frc.robot.commands.auto.checkShooterVelocity;
+import frc.robot.commands.Shooter.*;
+import frc.robot.commands.auto.*;
import frc.robot.commands.auto.commandgroups.common.systemactions.*;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench3BallPartnerMoves.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench3BallPartnerMoves.java
index 637ca7f..a7b2970 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench3BallPartnerMoves.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench3BallPartnerMoves.java
@@ -1,17 +1,10 @@
package frc.robot.commands.auto.commandgroups.common;
-import edu.wpi.first.wpilibj2.command.*;
-import frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.Shooter.*;
-import frc.robot.commands.auto.*;
+import frc.robot.commands.auto.resetDriveEncoders;
import frc.robot.commands.auto.commandgroups.common.movement.InTrench3Ball;
-import frc.robot.commands.auto.commandgroups.common.movement.PostTrench;
import frc.robot.commands.auto.commandgroups.common.movement.PostTrench3Ball;
-import frc.robot.commands.auto.commandgroups.common.movement.PostTrench6Ball;
import frc.robot.commands.auto.commandgroups.common.movement.PreTrenchNoPartner;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench6BallPartnerMoves.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench6BallPartnerMoves.java
index 8da0106..1af8a1c 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench6BallPartnerMoves.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/Trench6BallPartnerMoves.java
@@ -1,15 +1,9 @@
package frc.robot.commands.auto.commandgroups.common;
-import edu.wpi.first.wpilibj2.command.*;
-import frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.Shooter.*;
-import frc.robot.commands.auto.*;
+import frc.robot.commands.auto.resetDriveEncoders;
import frc.robot.commands.auto.commandgroups.common.movement.InTrench3Ball;
-import frc.robot.commands.auto.commandgroups.common.movement.PostTrench;
import frc.robot.commands.auto.commandgroups.common.movement.PostTrench6Ball;
import frc.robot.commands.auto.commandgroups.common.movement.PreTrenchNoPartner;
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorThreeBallFromCenterTarget.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorThreeBallFromCenterTarget.java
index 5d7393d..23be960 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorThreeBallFromCenterTarget.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorThreeBallFromCenterTarget.java
@@ -2,13 +2,11 @@
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.commands.Intake.runIntake;
import frc.robot.commands.KickerWheel.runKicker;
import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Shooter.startShooter;
import frc.robot.commands.auto.AutoDriveWithJoystickInput;
import frc.robot.commands.auto.AutoRotateWithJoystickInput;
import frc.robot.commands.auto.AutoRotateWithVision;
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorTwoBallNotOverBar.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorTwoBallNotOverBar.java
index 121e59f..ceeab23 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorTwoBallNotOverBar.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/GeneratorTwoBallNotOverBar.java
@@ -1,19 +1,9 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Robot;
-import frc.robot.commands.Intake.runIntake;
-import frc.robot.commands.KickerWheel.runKicker;
-import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Shooter.startShooter;
import frc.robot.commands.auto.AutoDriveWithJoystickInput;
-import frc.robot.commands.auto.AutoRotateWithJoystickInput;
-import frc.robot.commands.auto.AutoRotateWithVision;
-import frc.robot.commands.auto.autoStartShooter;
import frc.robot.commands.auto.resetDriveEncoders;
-import frc.robot.commands.auto.zeroAngleEncoders;
/**
* Drives from the initiation line to the generator command group
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/InTrench3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/InTrench3Ball.java
index 48841d3..900da90 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/InTrench3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/InTrench3Ball.java
@@ -1,12 +1,14 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.*;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.auto.*;
+import frc.robot.commands.Agitator.runAgitator;
+import frc.robot.commands.Intake.runIntake;
+import frc.robot.commands.KickerWheel.runKicker;
+import frc.robot.commands.auto.AutoStrafeWithPixy;
+import frc.robot.commands.auto.autoStartShooter;
/**
* Drives from the initiation line to the Trench to gather power cells
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench.java
index 2330fc6..ec9cac0 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench.java
@@ -1,15 +1,11 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.*;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Shooter.*;
+import frc.robot.commands.Serializer.*;
import frc.robot.commands.auto.*;
-import frc.robot.commands.auto.commandgroups.common.movement.PreTrenchPartnerOnRight;
/**
* Drives from the initiation line to the Trench to gather power cells
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench3Ball.java
index 5566876..81e75b2 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench3Ball.java
@@ -1,17 +1,15 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.*;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Shooter.*;
import frc.robot.commands.Vision.limeLightLEDOn;
import frc.robot.commands.Vision.limelightPipeline;
-import frc.robot.commands.auto.*;
-import frc.robot.commands.auto.commandgroups.common.movement.PreTrenchPartnerOnRight;
+import frc.robot.commands.auto.AutoDriveWithJoystickInput;
+import frc.robot.commands.auto.AutoRotateWithJoystickInput;
+import frc.robot.commands.auto.AutoRotateWithVision;
+import frc.robot.commands.auto.resetDriveEncoders;
/**
* Drives from the initiation line to the Trench to gather power cells
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench6Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench6Ball.java
index fd71e39..6c4b3d4 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench6Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PostTrench6Ball.java
@@ -1,17 +1,16 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.*;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Shooter.*;
import frc.robot.commands.Vision.limeLightLEDOn;
import frc.robot.commands.Vision.limelightPipeline;
-import frc.robot.commands.auto.*;
-import frc.robot.commands.auto.commandgroups.common.movement.PreTrenchPartnerOnRight;
+import frc.robot.commands.auto.AutoDriveWithJoystickInput;
+import frc.robot.commands.auto.AutoRotateWithJoystickInput;
+import frc.robot.commands.auto.AutoRotateWithVision;
+import frc.robot.commands.auto.resetDriveEncoders;
/**
* Drives from the initiation line to the Trench to gather power cells
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchGoalOffset.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchGoalOffset.java
index 2434b2b..cbadffa 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchGoalOffset.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchGoalOffset.java
@@ -1,12 +1,7 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.*;
-import frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.Shooter.*;
import frc.robot.commands.auto.*;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchNoPartner.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchNoPartner.java
index 27abe28..722b3d6 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchNoPartner.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchNoPartner.java
@@ -1,15 +1,10 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.*;
-import frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.Shooter.*;
import frc.robot.commands.Vision.limelightPipeline;
-import frc.robot.commands.auto.*;
-
+import frc.robot.commands.auto.AutoDriveWithJoystickInput;
+import frc.robot.commands.auto.resetDriveEncoders;
/**
* Drives from the initiation line to the Trench to gather power cells
* @author Madison J.
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchPartnerOnRight.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchPartnerOnRight.java
index 12a8f7b..b215d47 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchPartnerOnRight.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/movement/PreTrenchPartnerOnRight.java
@@ -1,14 +1,10 @@
package frc.robot.commands.auto.commandgroups.common.movement;
-import edu.wpi.first.wpilibj2.command.*;
-import frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.*;
-import frc.robot.commands.Intake.*;
-import frc.robot.commands.KickerWheel.*;
-import frc.robot.commands.Shooter.*;
import frc.robot.commands.Vision.limelightPipeline;
-import frc.robot.commands.auto.*;
+import frc.robot.commands.auto.AutoDriveWithJoystickInput;
+import frc.robot.commands.auto.resetDriveEncoders;
/**
* Drives from the initiation line to the Trench to gather power cells
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FireOnePartnerBall.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FireOnePartnerBall.java
index e1c10b8..4f77cd8 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FireOnePartnerBall.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FireOnePartnerBall.java
@@ -1,16 +1,13 @@
package frc.robot.commands.auto.commandgroups.common.systemactions;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.commands.Agitator.runAgitator;
-import frc.robot.commands.Intake.runIntake;
import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Shooter.stopShooter;
-import frc.robot.commands.auto.AutoDriveWithJoystickInput;
-import frc.robot.commands.auto.autoBallCounter;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;;
+import frc.robot.commands.auto.autoBallCounter;;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FirePartnerBalls.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FirePartnerBalls.java
index 89c1323..c4b575a 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FirePartnerBalls.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/FirePartnerBalls.java
@@ -1,14 +1,11 @@
package frc.robot.commands.auto.commandgroups.common.systemactions;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.runAgitator;
-import frc.robot.commands.Intake.runIntake;
-import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Shooter.stopShooter;
-import frc.robot.commands.auto.AutoDriveWithJoystickInput;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.commands.Agitator.*;
+import frc.robot.commands.Intake.*;
+import frc.robot.commands.Serializer.*;
/**
* Nine ball auto
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/IntakeAndFireFromPartners.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/IntakeAndFireFromPartners.java
index 12122eb..bc214d5 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/IntakeAndFireFromPartners.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/IntakeAndFireFromPartners.java
@@ -2,9 +2,9 @@
import frc.robot.Constants;
import frc.robot.Robot;
-import frc.robot.commands.Agitator.runAgitator;
-import frc.robot.commands.Intake.runIntake;
-import frc.robot.commands.Serializer.runSerializer;
+import frc.robot.commands.Agitator.*;
+import frc.robot.commands.Intake.*;
+import frc.robot.commands.Serializer.*;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/SendModulesToZero.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/SendModulesToZero.java
index cb607a7..15746eb 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/SendModulesToZero.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/SendModulesToZero.java
@@ -2,7 +2,7 @@
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.Robot;
-import frc.robot.commands.auto.zeroAngleEncoders;
+import frc.robot.commands.auto.*;
/**
* Sets the angle encoders to zero command group
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/StartShooter.java b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/StartShooter.java
index 67153e4..2774f54 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/StartShooter.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/common/systemactions/StartShooter.java
@@ -2,8 +2,8 @@
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import frc.robot.Robot;
-import frc.robot.commands.KickerWheel.runKicker;
-import frc.robot.commands.Shooter.startShooter;
+import frc.robot.commands.KickerWheel.*;
+import frc.robot.commands.Shooter.*;
/**
* Runs the kicker and starts the shooter command group
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9Ball.java
index 1ce4119..09272ae 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9Ball.java
@@ -1,14 +1,13 @@
package frc.robot.commands.auto.commandgroups.nineball;
-import frc.robot.commands.auto.AutoDriveWithJoystickInput;
-import frc.robot.commands.auto.zeroDriveEncoders;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.commands.Intake.runIntake;
-import frc.robot.commands.Serializer.stopSerializer;
+import frc.robot.commands.auto.AutoDriveWithJoystickInput;
+import frc.robot.commands.auto.zeroDriveEncoders;
import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTrench.java b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTrench.java
index 79c70ee..86de33c 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTrench.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTrench.java
@@ -1,13 +1,12 @@
package frc.robot.commands.auto.commandgroups.nineball;
-import frc.robot.commands.auto.AutoDriveWithJoystickInput;
-import frc.robot.commands.auto.zeroDriveEncoders;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Robot;
-import frc.robot.commands.Serializer.stopSerializer;
+import frc.robot.commands.Serializer.*;
+import frc.robot.commands.auto.*;
import frc.robot.commands.auto.commandgroups.common.movement.PreTrenchNoPartner;
import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTurn.java b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTurn.java
index 6849434..dae6443 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTurn.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoal9BallTurn.java
@@ -1,12 +1,10 @@
package frc.robot.commands.auto.commandgroups.nineball;
-import frc.robot.commands.auto.AutoDriveWithJoystickInput;
-import frc.robot.commands.auto.zeroDriveEncoders;
-import frc.robot.Robot;
-import frc.robot.commands.Serializer.stopSerializer;
-import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Robot;
+import frc.robot.commands.auto.*;
+import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallGenerator3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallGenerator3Ball.java
index 125f1f7..dd339bb 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallGenerator3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallGenerator3Ball.java
@@ -1,10 +1,9 @@
package frc.robot.commands.auto.commandgroups.nineball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
+import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallTrench3BallShoot.java b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallTrench3BallShoot.java
index 59199ac..a59ec1f 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallTrench3BallShoot.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/nineball/CenterGoalBack9BallTrench3BallShoot.java
@@ -1,10 +1,9 @@
package frc.robot.commands.auto.commandgroups.nineball;
-import frc.robot.commands.auto.commandgroups.common.movement.*;
-import frc.robot.commands.auto.commandgroups.common.*;
-import frc.robot.commands.auto.commandgroups.common.systemactions.*;
-import frc.robot.commands.auto.commandgroups.common.vision.*;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
+import frc.robot.commands.auto.commandgroups.common.Trench6BallPartnerMoves;
+import frc.robot.commands.auto.commandgroups.common.vision.Vision3ShootBall;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/noshoot/FarLeftBackTrench2BallShoot.java b/src/main/java/frc/robot/commands/auto/commandgroups/noshoot/FarLeftBackTrench2BallShoot.java
index 077ebd8..b5570e3 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/noshoot/FarLeftBackTrench2BallShoot.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/noshoot/FarLeftBackTrench2BallShoot.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.noshoot;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
@@ -18,6 +16,8 @@ public class FarLeftBackTrench2BallShoot extends SequentialCommandGroup {
public FarLeftBackTrench2BallShoot() {
addCommands(
// new AutonInit()
+
+
);
}
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CG6BallGenerator3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CG6BallGenerator3Ball.java
index 58d3c2b..295181a 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CG6BallGenerator3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CG6BallGenerator3Ball.java
@@ -1,11 +1,9 @@
package frc.robot.commands.auto.commandgroups.sixball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.systemactions.FireOnePartnerBall;
-import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
+import frc.robot.commands.auto.commandgroups.common.systemactions.FireOnePartnerBall;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoal6Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoal6Ball.java
index 40002ed..8275cf9 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoal6Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoal6Ball.java
@@ -1,18 +1,15 @@
package frc.robot.commands.auto.commandgroups.sixball;
-import frc.robot.commands.auto.AutoDriveWithJoystickInput;
-import frc.robot.commands.auto.zeroDriveEncoders;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import frc.robot.Robot;
import frc.robot.commands.Intake.runIntake;
import frc.robot.commands.Serializer.runSerializer;
-import frc.robot.commands.Serializer.stopSerializer;
+import frc.robot.commands.auto.AutoDriveWithJoystickInput;
+import frc.robot.commands.auto.zeroDriveEncoders;
import frc.robot.commands.auto.commandgroups.common.systemactions.FireOnePartnerBall;
-import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedLeftGenerator5Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedLeftGenerator5Ball.java
index f3593fc..6d8f4d4 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedLeftGenerator5Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedLeftGenerator5Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.sixball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedRightGenerator5Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedRightGenerator5Ball.java
index aaaa9c6..4e6d0e3 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedRightGenerator5Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallFeedRightGenerator5Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.sixball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator2Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator2Ball.java
index c8a3db1..ff5867d 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator2Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator2Ball.java
@@ -1,11 +1,8 @@
package frc.robot.commands.auto.commandgroups.sixball;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
import frc.robot.commands.auto.commandgroups.common.systemactions.FireOnePartnerBall;
-import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator3Ball.java
index 1f6e153..d9bc1b7 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalBack6BallGenerator3Ball.java
@@ -1,11 +1,8 @@
package frc.robot.commands.auto.commandgroups.sixball;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
import frc.robot.commands.auto.commandgroups.common.systemactions.FireOnePartnerBall;
-import frc.robot.commands.auto.commandgroups.common.systemactions.FirePartnerBalls;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
/**
* Shoots 9 balls centered on the goal then the chassis drives to the generator and we intake 3 balls
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalFront6BallFeedRightTrench2BallShoot.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalFront6BallFeedRightTrench2BallShoot.java
index 1fe922e..fb28b7e 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalFront6BallFeedRightTrench2BallShoot.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/CenterGoalFront6BallFeedRightTrench2BallShoot.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.sixball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/RightGoalBack6BallFeedLeftTrench3BallShootGenerator2Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/RightGoalBack6BallFeedLeftTrench3BallShootGenerator2Ball.java
index 287b7f2..c170e67 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/sixball/RightGoalBack6BallFeedLeftTrench3BallShootGenerator2Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/sixball/RightGoalBack6BallFeedLeftTrench3BallShootGenerator2Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.sixball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalBack3BallGenerator5BallShoot.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalBack3BallGenerator5BallShoot.java
index da69a2c..2a37c1b 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalBack3BallGenerator5BallShoot.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalBack3BallGenerator5BallShoot.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3Ball.java
index 8243ebc..ef7ca0b 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3BallTrench2BallShoot.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3BallTrench2BallShoot.java
index 91a73b5..ab3e40c 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3BallTrench2BallShoot.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/CenterGoalFront3BallTrench2BallShoot.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3Ball.java
index e5eb9e9..d639cfa 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3BallGenerator5BallShoot.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3BallGenerator5BallShoot.java
index 22cc5eb..5aa1ada 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3BallGenerator5BallShoot.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalBack3BallGenerator5BallShoot.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalFront3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalFront3Ball.java
index 4362e63..d5b12ea 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalFront3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/LeftGoalFront3Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3Ball.java
index d707586..a5c0286 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3BallTrench3BallShootGenerator2Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3BallTrench3BallShootGenerator2Ball.java
index cf75a8c..2fb8707 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3BallTrench3BallShootGenerator2Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalBack3BallTrench3BallShootGenerator2Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalFront3Ball.java b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalFront3Ball.java
index c4b8567..d5e0642 100644
--- a/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalFront3Ball.java
+++ b/src/main/java/frc/robot/commands/auto/commandgroups/threeball/RightGoalFront3Ball.java
@@ -1,7 +1,5 @@
package frc.robot.commands.auto.commandgroups.threeball;
-import frc.robot.commands.auto.commandgroups.common.movement.GeneratorThreeBallFromCenterTarget;
-import frc.robot.commands.auto.commandgroups.common.ShootNineBall;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
diff --git a/src/main/java/frc/robot/commands/auto/resetDriveEncoders.java b/src/main/java/frc/robot/commands/auto/resetDriveEncoders.java
index 7807121..d2ea992 100644
--- a/src/main/java/frc/robot/commands/auto/resetDriveEncoders.java
+++ b/src/main/java/frc/robot/commands/auto/resetDriveEncoders.java
@@ -1,9 +1,3 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
package frc.robot.commands.auto;
diff --git a/src/main/java/frc/robot/commands/auto/setAllDriveEncoders.java b/src/main/java/frc/robot/commands/auto/setAllDriveEncoders.java
index 805dfed..e415021 100644
--- a/src/main/java/frc/robot/commands/auto/setAllDriveEncoders.java
+++ b/src/main/java/frc/robot/commands/auto/setAllDriveEncoders.java
@@ -1,9 +1,3 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
package frc.robot.commands.auto;
diff --git a/src/main/java/frc/robot/commands/auto/zeroDriveEncoders.java b/src/main/java/frc/robot/commands/auto/zeroDriveEncoders.java
index 0c92ad3..65669d6 100644
--- a/src/main/java/frc/robot/commands/auto/zeroDriveEncoders.java
+++ b/src/main/java/frc/robot/commands/auto/zeroDriveEncoders.java
@@ -1,8 +1,7 @@
package frc.robot.commands.auto;
-import frc.robot.subsystems.SwerveDrivetrain;
-import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.SwerveDrivetrain;
/**
* Zeros the angle encoders
diff --git a/src/main/java/frc/robot/commands/auton/autoResetRampRate.java b/src/main/java/frc/robot/commands/auton/autoResetRampRate.java
index 9a7c94a..2ad003a 100644
--- a/src/main/java/frc/robot/commands/auton/autoResetRampRate.java
+++ b/src/main/java/frc/robot/commands/auton/autoResetRampRate.java
@@ -1,8 +1,8 @@
package frc.robot.commands.auton;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.Robot;
import frc.robot.subsystems.OperatorAngleAdjustment;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
/**
* Resets the ramp rate on the shooter to be zero
diff --git a/src/main/java/frc/robot/commands/swerve/ChangeGyroAngleOffset.java b/src/main/java/frc/robot/commands/swerve/ChangeGyroAngleOffset.java
index 2993683..657c929 100644
--- a/src/main/java/frc/robot/commands/swerve/ChangeGyroAngleOffset.java
+++ b/src/main/java/frc/robot/commands/swerve/ChangeGyroAngleOffset.java
@@ -1,15 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
package frc.robot.commands.swerve;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.Robot;
import frc.robot.subsystems.OperatorAngleAdjustment;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
/**
* Sets the robot's angle offset. This should be on the DRIVER joystick
diff --git a/src/main/java/frc/robot/commands/swerve/ChangeVisionAngleOffset.java b/src/main/java/frc/robot/commands/swerve/ChangeVisionAngleOffset.java
index 1f5d367..4cc37dc 100644
--- a/src/main/java/frc/robot/commands/swerve/ChangeVisionAngleOffset.java
+++ b/src/main/java/frc/robot/commands/swerve/ChangeVisionAngleOffset.java
@@ -1,15 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
package frc.robot.commands.swerve;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.Robot;
import frc.robot.subsystems.OperatorAngleAdjustment;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
/**
* Sets the robot's angle offset. This should be on the DRIVER joystick
diff --git a/src/main/java/frc/robot/commands/swerve/SetFieldOriented.java b/src/main/java/frc/robot/commands/swerve/SetFieldOriented.java
index 0ad88e4..f655745 100644
--- a/src/main/java/frc/robot/commands/swerve/SetFieldOriented.java
+++ b/src/main/java/frc/robot/commands/swerve/SetFieldOriented.java
@@ -1,9 +1,3 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
package frc.robot.commands.swerve;
diff --git a/src/main/java/frc/robot/commands/swerve/SetGyroAngleOffset.java b/src/main/java/frc/robot/commands/swerve/SetGyroAngleOffset.java
index 4351110..5de6c8a 100644
--- a/src/main/java/frc/robot/commands/swerve/SetGyroAngleOffset.java
+++ b/src/main/java/frc/robot/commands/swerve/SetGyroAngleOffset.java
@@ -1,8 +1,8 @@
package frc.robot.commands.swerve;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.Robot;
import frc.robot.subsystems.OperatorAngleAdjustment;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
/**
* Sets the robot's future angle offset. This should be on the OPERATOR joystick
diff --git a/src/main/java/frc/robot/nerdyfiles/swerve/FXSwerveModule.java b/src/main/java/frc/robot/nerdyfiles/swerve/FXSwerveModule.java
index 2773b7d..0888519 100644
--- a/src/main/java/frc/robot/nerdyfiles/swerve/FXSwerveModule.java
+++ b/src/main/java/frc/robot/nerdyfiles/swerve/FXSwerveModule.java
@@ -2,10 +2,11 @@
import com.ctre.phoenix.motorcontrol.*;
import com.ctre.phoenix.motorcontrol.can.*;
-import com.ctre.phoenix.sensors.*;
-
-import edu.wpi.first.wpilibj.*;
+import com.ctre.phoenix.sensors.SensorInitializationStrategy;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.RobotController;
import frc.robot.Robot;
+import frc.robot.commands.swerve.SwerveDriveCommand;
/**
* Swerve Module Object used to run the calculations for the swerve drive
diff --git a/src/main/java/frc/robot/subsystems/Agitator.java b/src/main/java/frc/robot/subsystems/Agitator.java
index 99f2819..4e98f73 100644
--- a/src/main/java/frc/robot/subsystems/Agitator.java
+++ b/src/main/java/frc/robot/subsystems/Agitator.java
@@ -4,9 +4,7 @@
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.VictorSPX;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
import frc.robot.Constants;
/**
* Simple subsystem for the agitator
diff --git a/src/main/java/frc/robot/subsystems/LEDBlinkin.java b/src/main/java/frc/robot/subsystems/LEDBlinkin.java
index c44e149..fa97cf8 100644
--- a/src/main/java/frc/robot/subsystems/LEDBlinkin.java
+++ b/src/main/java/frc/robot/subsystems/LEDBlinkin.java
@@ -3,8 +3,6 @@
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
-import frc.robot.Robot;
-import frc.robot.commands.LED.LEDRuntime;
/**
* Where all the LEDs are controlled
diff --git a/src/main/java/frc/robot/subsystems/LEDs.java b/src/main/java/frc/robot/subsystems/LEDs.java
index 194fa68..da65ef2 100644
--- a/src/main/java/frc/robot/subsystems/LEDs.java
+++ b/src/main/java/frc/robot/subsystems/LEDs.java
@@ -3,7 +3,6 @@
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
-import frc.robot.Robot;
import frc.robot.commands.LED.LEDRuntime;
/**
diff --git a/src/main/java/frc/robot/subsystems/Serializer.java b/src/main/java/frc/robot/subsystems/Serializer.java
index 57d5b0e..c45bc91 100644
--- a/src/main/java/frc/robot/subsystems/Serializer.java
+++ b/src/main/java/frc/robot/subsystems/Serializer.java
@@ -3,9 +3,9 @@
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.can.TalonFX;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
-import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import edu.wpi.first.wpilibj.Counter;
import edu.wpi.first.wpilibj.DigitalInput;
@@ -13,7 +13,6 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import frc.robot.commands.Serializer.serializerBallControl;
-import frc.robot.commands.Serializer.serializerCoOp;
/**
* Subsystem for the Serializer
diff --git a/src/main/java/frc/robot/subsystems/Servo66.java b/src/main/java/frc/robot/subsystems/Servo66.java
index fa338c4..f84febe 100644
--- a/src/main/java/frc/robot/subsystems/Servo66.java
+++ b/src/main/java/frc/robot/subsystems/Servo66.java
@@ -1,10 +1,8 @@
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.Servo;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
-import frc.robot.Robot;
/**
* Controls the release the climber systems using a pneumatics
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
index 2a07432..bf485e5 100644
--- a/src/main/java/frc/robot/subsystems/Vision.java
+++ b/src/main/java/frc/robot/subsystems/Vision.java
@@ -3,9 +3,8 @@
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**