diff --git a/.vscode/launch.json b/.vscode/launch.json
index 5b804e8..322274b 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": "Robot-Code-2024"
+    },
     {
       "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/.vscode/settings.json b/.vscode/settings.json
index 8be11f2..f9d11ed 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -25,5 +25,10 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.format.settings.url": ".vscode/eclipse-java-google-style.xml",
+  "[java]": {
+    "editor.detectIndentation": false
+  },
+  "java.checkstyle.configuration": "${workspaceFolder}/.vscode/eclipse-java-google-style.xml"
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index f315188..bab4dd6 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -1,98 +1,94 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 // ***NEED TO BE UPDATED FOR 2024 SEASON***
 
 /**
- * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants. This class should not be used for any other purpose. All constants should be declared
- * globally (i.e. public static). Do not put anything functional in this class.
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or
+ * boolean constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
  *
- * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
 
-  public static class OperatorConstants {
-    public static final int DRIVER_XBOX_PORT = 0;
-    public static final int COPILOT_XBOX_PORT = 1;
+    public static class OperatorConstants {
+        public static final int DRIVER_XBOX_PORT = 0;
+        public static final int COPILOT_XBOX_PORT = 1;
 
-    public static final double DRIVER_JOYSTICK_DEADBAND = 0.1;
-    public static final double DRIVE_SPEED_ADJUSTMENT = 0.8;
-  }
+        public static final double DRIVER_JOYSTICK_DEADBAND = 0.1;
+        public static final double DRIVE_SPEED_ADJUSTMENT = 0.8;
+    }
 
-  public static class DrivetrainConstants {
-    public static final int LEFT_MOTOR_1_PORT = 1;
-    public static final int LEFT_MOTOR_2_PORT = 2;
-    public static final int RIGHT_MOTOR_1_PORT = 3;
-    public static final int RIGHT_MOTOR_2_PORT = 4;
+    public static class DrivetrainConstants {
+        public static final int LEFT_MOTOR_1_PORT = 1;
+        public static final int LEFT_MOTOR_2_PORT = 2;
+        public static final int RIGHT_MOTOR_1_PORT = 3; 
+        public static final int RIGHT_MOTOR_2_PORT = 4;
 
-    public static final int COUNTS_PER_REV = 42;
+        public static final int COUNTS_PER_REV = 42;
 
-    // 1 meter = 39.37 inches = 2.088 wheel rotations = 17.664 motor rotations (assuming gear ratio = 8.46)
-    public static final double METERS_TO_ROTATIONS = 17.664;
-    public static final double DEGREES_TO_ROTATIONS = 0.1; // value accurate as of 2/13/24
-  }
+        // 1 meter = 39.37 inches = 2.088 wheel rotations = 17.664 motor rotations (assuming gear ratio = 8.46)
+        public static final double METERS_TO_ROTATIONS = 17.664;
+        public static final double DEGREES_TO_ROTATIONS = 0.1; // value accurate as of 2/13/24
+    }
 
-  public static class IntakeConstants {
-    public static final int INTAKE_MOTOR_PORT = 5;
+    public static class IntakeConstants {
+        public static final int INTAKE_MOTOR_PORT = 5;
 
-    public static final double INTAKE_MOTOR_SPEED_IN = 0.4; 
-    public static final double INTAKE_MOTOR_SPEED_OUT = -0.4; 
+        public static final double INTAKE_MOTOR_SPEED_IN = 0.4; 
+        public static final double INTAKE_MOTOR_SPEED_OUT = -0.4; 
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class IndexerConstants {
-    public static final int INDEXER_MOTOR_PORT = 6;
+    public static class IndexerConstants {
+        public static final int INDEXER_MOTOR_PORT = 6;
 
-    public static final double INDEXER_MOTOR_SPEED_DOWN = 0.4; // TODO: replace with values from beam break branch
-    public static final double INDEXER_MOTOR_SPEED_UP = -0.4; // TODO: replace with values from beam break branch
+        public static final double INDEXER_MOTOR_SPEED_DOWN = 0.4; // TO DO: replace with values from beam break branch
+        public static final double INDEXER_MOTOR_SPEED_UP = -0.4; // TO DO: replace with values from beam break branch
 
-    public static final double INDEXER_MOTOR_SPEED_DOWN_BACKUP = 0.2; // for testing/backup, finalized 02/23/2024
-    public static final double INDEXER_MOTOR_SPEED_UP_BACKUP = -0.2; // for testing/backup, finalized 02/23/2024
+        public static final double INDEXER_MOTOR_SPEED_DOWN_BACKUP = 0.2; // for testing/backup, finalized 02/23/2024
+        public static final double INDEXER_MOTOR_SPEED_UP_BACKUP = -0.2; // for testing/backup, finalized 02/23/2024
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class ShooterConstants {
-    public static final int SHOOTER_MOTOR_PORT = 7;
+    public static class ShooterConstants {
+        public static final int SHOOTER_MOTOR_PORT = 7;
 
-    public static final double SHOOTER_MOTOR_SPEED_AMP = HoodConstants.HOOD_MOTOR_SPEED / -2.0; // should be half of HOOD_MOTOR_SPEED, finalized 02/23/2024
-    public static final double SHOOTER_MOTOR_SPEED_SPEAKER = -0.5; // correct as of 2/25/24
-    public static final double SHOOTER_MOTOR_SPEED_OUT = -0.5; // constant for testing
+        public static final double SHOOTER_MOTOR_SPEED_AMP = HoodConstants.HOOD_MOTOR_SPEED / -2.0; // should be half of HOOD_MOTOR_SPEED, finalized 02/23/2024
+        public static final double SHOOTER_MOTOR_SPEED_SPEAKER = -0.5; // correct as of 2/25/24
+        public static final double SHOOTER_MOTOR_SPEED_OUT = -0.5; // constant for testing
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class HoodConstants {
-    public static final int HOOD_MOTOR_PORT = 9; // correct as of 2/20/24
-    public static final int PIVOT_MOTOR_PORT = 8; // correct as of 2/20/24
+    public static class HoodConstants {
+        public static final int HOOD_MOTOR_PORT = 9; // correct as of 2/20/24
+        public static final int PIVOT_MOTOR_PORT = 8; // correct as of 2/20/24
 
-    public static final double HOOD_MOTOR_SPEED = 0.4; // should be double of SHOOTER_MOTOR_SPEED_AMP, finalized 02/23/2024
+        public static final double HOOD_MOTOR_SPEED = 0.4; // should be double of SHOOTER_MOTOR_SPEED_AMP, finalized 02/23/2024
 
-    public static final double PIVOT_MOTOR_SPEED = 0.5; // finalized 02/23/2024
-    public static final double SLOW_PIVOT_MOTOR_SPEED = 0.2; // finalized 02/23/2024
+        public static final double PIVOT_MOTOR_SPEED = 0.5; // finalized 02/23/2024
+        public static final double SLOW_PIVOT_MOTOR_SPEED = 0.2; // finalized 02/23/2024
 
-    // assuming hood back is at encoder position 0, PIVOT_DISTANCE is the required encoder position for the hood to be forward
-    public static final double PIVOT_DISTANCE = -48.20; // correct as of 2/20/24
+        // assuming hood back is at encoder position 0, PIVOT_DISTANCE is the required encoder position for the hood to be forward
+        public static final double PIVOT_DISTANCE = -48.20; // correct as of 2/20/24
 
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class ClimberConstants {
-    public static final int CLIMBER_MOTOR_PORT = 100; // TO DO: set ID val
+    public static class ClimberConstants {
+        public static final int CLIMBER_MOTOR_PORT = 100; // TO DO: set ID val
 
-    public static final int COUNTS_PER_REV = 42;
-  }
+        public static final int COUNTS_PER_REV = 42;
+    }
 
-  public static class AutoConstants {
-    public static final double TAXI_AUTO_TARGET_DISTANCE = 25; // distance in meters to taxi (unset for 2024)
-    public static final double TAXI_AUTO_SPEED = 0.4; // (temp) speed of robot during taxi auto
-    public static final double ROTATION_SPEED = 0.5;
-  }
+    public static class AutoConstants {
+        public static final double TAXI_AUTO_TARGET_DISTANCE = 25; // distance in meters to taxi (unset for 2024)
+        public static final double TAXI_AUTO_SPEED = 0.4; // (temp) speed of robot during taxi auto
+        public static final double ROTATION_SPEED = 0.5;
+    }
 }
diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
index 8776e5d..028613e 100644
--- a/src/main/java/frc/robot/Main.java
+++ b/src/main/java/frc/robot/Main.java
@@ -1,25 +1,24 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
- * you are doing, do not modify this file except to change the parameter class to the startRobot
- * call.
+ * Do not add any static variables to this class, or any initialization at all. Unless you know
+ * what you are doing, do not modify this file except to change the parameter class to the
+ * startRobot call.
  */
 public final class Main {
-  private Main() {}
+    /**
+     * Constructs Main object.
+     */
+    public Main() {}
 
-  /**
-   * Main initialization function. Do not perform any initialization here.
-   *
-   * <p>If you change your main robot class, change the parameter type.
-   */
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
+    /**
+     * Main initialization function. Do not perform any initialization here.
+     *
+     * If you change your main robot class, change the parameter type.
+     */
+    public static void main(String... args) {
+        RobotBase.startRobot(Robot::new);
+    }
 }
diff --git a/src/main/java/frc/robot/OI.java b/src/main/java/frc/robot/OI.java
index 475cc6c..6298913 100644
--- a/src/main/java/frc/robot/OI.java
+++ b/src/main/java/frc/robot/OI.java
@@ -48,4 +48,4 @@ public double getCoXBoxRightJoyX() {
         return m_coPilotXbox.getRightX();
     }
 
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ccdab80..e1383af 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -1,14 +1,9 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
-
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
  * each mode, as described in the TimedRobot documentation. If you change the name of this class or
@@ -16,90 +11,116 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private Command m_autonomousCommand;
-
-  private RobotContainer m_robotContainer;
-
-  /**
-   * This function is run when the robot is first started up and should be used for any
-   * initialization code.
-   */
-  @Override
-  public void robotInit() {
-    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
-    // autonomous chooser on the dashboard.
-
-    m_robotContainer = new RobotContainer();
-  }
-
-  /**
-   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
-   * that you want ran during disabled, autonomous, teleoperated and test.
-   *
-   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
-   * SmartDashboard integrated updating.
-   */
-  @Override
-  public void robotPeriodic() {
-    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-    // commands, running already-scheduled commands, removing finished or interrupted commands,
-    // and running subsystem periodic() methods.  This must be called from the robot's periodic
-    // block in order for anything in the Command-based framework to work.
-    CommandScheduler.getInstance().run();
-  }
-
-  /** This function is called once each time the robot enters Disabled mode. */
-  @Override
-  public void disabledInit() {}
-
-  @Override
-  public void disabledPeriodic() {}
-
-  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
-  @Override
-  public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
-    // schedule the autonomous command (example)
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+    // Instance variables
+    private Command m_autonomousCommand;
+    private RobotContainer m_robotContainer;
+    
+    /**
+     * Constructs Robot object.
+     */
+    public Robot() {}
+
+    /**
+     * This function is run when the robot is first started up and should be used for any
+     * robot-wide initialization code.
+     */
+    @Override
+    public void robotInit() {
+        // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+        // autonomous chooser on the dashboard.
+        m_robotContainer = new RobotContainer();
     }
-  }
 
-  /** This function is called periodically during autonomous. */
-  @Override
-  public void autonomousPeriodic() {}
-
-  @Override
-  public void teleopInit() {
-    // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
+    /**
+     * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+     * that you want ran during disabled, autonomous, teleoperated and test.
+     *
+     * This runs after the mode specific periodic functions, but before LiveWindow and
+     * SmartDashboard integrated updating.
+     */
+    @Override
+    public void robotPeriodic() {
+        // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+        // commands, running already-scheduled commands, removing finished or interrupted commands,
+        // and running subsystem periodic() methods. This must be called from the robot's periodic
+        // block in order for anything in the Command-based framework to work.
+        CommandScheduler.getInstance().run();
     }
-  }
-
-  /** This function is called periodically during operator control. */
-  @Override
-  public void teleopPeriodic() {}
 
-  @Override
-  public void testInit() {
-    // Cancels all running commands at the start of test mode.
-    CommandScheduler.getInstance().cancelAll();
-  }
+    /**
+     * This function is called once each time the robot enters disabled mode.
+     */
+    @Override
+    public void disabledInit() {}
+
+    /**
+     * This function is called periodically while the robot is in disabled mode.
+     */
+    @Override
+    public void disabledPeriodic() {}
+
+    /**
+     * This function is called once each time the robot enters autonomous mode.
+     */
+    @Override
+    public void autonomousInit() {
+        m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+        // schedule the autonomous command (example)
+        if (m_autonomousCommand != null) {
+            m_autonomousCommand.schedule();
+        }
+    }
 
-  /** This function is called periodically during test mode. */
-  @Override
-  public void testPeriodic() {}
+    /**
+     * This function is called periodically while the robot is in autonomous mode.
+     */
+    @Override
+    public void autonomousPeriodic() {}
+
+    /**
+     * This function is called once each time the robot enters teleop mode.
+     */
+    @Override
+    public void teleopInit() {
+        // This makes sure that the autonomous stops running when teleop starts running. If you
+        // want the autonomous to continue until interrupted by another command, remove this line
+        // or comment it out.
+        if (m_autonomousCommand != null) {
+            m_autonomousCommand.cancel();
+        }
+    }
 
-  /** This function is called once when the robot is first started up. */
-  @Override
-  public void simulationInit() {}
+    /**
+     * This function is called periodically while the robot is in teleop mode.
+     */
+    @Override
+    public void teleopPeriodic() {}
+
+    /**
+     * This function is called once each time the robot enters test mode.
+     */
+    @Override
+    public void testInit() {
+        // Cancels all running commands at the start of test mode.
+        CommandScheduler.getInstance().cancelAll();
+    }
 
-  /** This function is called periodically whilst in simulation. */
-  @Override
-  public void simulationPeriodic() {}
+    /**
+     * This function is called periodically while the robot is in test mode.
+     */
+    @Override
+    public void testPeriodic() {}
+
+    /**
+     * This function is called once when the robot is first started up.
+     */
+    @Override
+    public void simulationInit() {}
+
+    /**
+     * This function is called periodically while the robot is in simulation.
+     */
+    @Override
+    public void simulationPeriodic() {}
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c042894..dc765f5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,10 +1,7 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
-// import frc.robot.Constants.OperatorConstants;
+import edu.wpi.first.wpilibj2.command.Command;
+// import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 // import frc.robot.commands.ExampleCommand;
 import frc.robot.commands.Autos;
@@ -57,85 +54,76 @@
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * "declarative" paradigm, very little robot logic should actually be handled in the Robot periodic
+ * methods (other than the scheduler calls). Instead, the structure of the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
 public class RobotContainer {
-  // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
-  private static final OI m_humanControl = new OI();
-  public static final Drivetrain m_drivetrain = new Drivetrain(m_humanControl);
-  private static final Indexer m_indexer = new Indexer();
-  private static final Intake m_intake = new Intake();
-  private static final Shooter m_shooter = new Shooter();
-  private static final Hood m_hood = new Hood();
-
-  public SendableChooser<Command> m_chooser = new SendableChooser<>();
-  // public static SequentialCommandGroup m_driveTwice = new SequentialCommandGroup(
-  //       // new SuctionOnCommand(m_gripper),
-  //       // new ArmPlaceHighCommand(m_arm),
-  //       // new SuctionOffCommand(m_gripper),
-  //       new DistanceDriveCommand(m_drivetrain, 1),
-  //       new DistanceDriveCommand(m_drivetrain, 2)
-  // );
-
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
-  public RobotContainer() {
-    // Configure the trigger bindings
-    configureBindings();
-
-    // set default commands
-    m_drivetrain.setDefaultCommand(new ArcadeDriveCommand(m_drivetrain, m_humanControl));
-    // m_hood.setDefaultCommand(new PrintHoodEncoder(m_hood));
-
-    // auto routines
-    m_chooser.addOption("Drive 2 meters", new DistanceDriveCommand(m_drivetrain, 2));
-    m_chooser.addOption("Rotate 90 degrees", new RotationCommand(m_drivetrain, 90));
-    // m_chooser.addOption("Double drive", m_driveTwice);
-
-    ShuffleboardTab compTab = Shuffleboard.getTab("Comp HUD");
-    compTab.add("Auto Chooser", m_chooser).withSize(3, 2);
-  }
-
-  /**
-   * Use this method to define your trigger->command mappings. Triggers can be created via the
-   * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
-   * predicate, or via the named factories in {@link
-   * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
-   * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
-   * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
-   * joysticks}.
-   */
-  private void configureBindings() { // temp for testing 
-
-    OI.m_coPilotXbox.a().whileTrue(new ShooterHoodBackward(m_shooter, m_hood)); // emergency use button that should not be pressed in normal circumstances
-    OI.m_coPilotXbox.b().whileTrue(new OuttakeIndexCommand(m_indexer, m_intake)); // outtaking should not normally be necessary
-    OI.m_coPilotXbox.x().whileTrue(new IntakeIndexCommand(m_indexer, m_intake));
-    OI.m_coPilotXbox.y().whileTrue(new IndexerUpCommand(m_indexer));
-
-    OI.m_coPilotXbox.leftTrigger().whileTrue(new ShooterSpeakerCommand(m_shooter));
-    OI.m_coPilotXbox.rightTrigger().whileTrue(new ShooterAmpCommand(m_shooter, m_hood));
-
-    OI.m_coPilotXbox.leftBumper().whileTrue(new HoodPivotForwardCommand(m_hood));
-    OI.m_coPilotXbox.rightBumper().whileTrue(new HoodPivotBackwardCommand(m_hood));
-
-    // back and start buttons are backup commands for if the hood encoders mess up
-    OI.m_coPilotXbox.back().whileTrue(new HoodPivotForwardBackup(m_hood));
-    OI.m_coPilotXbox.start().whileTrue(new HoodPivotBackwardBackup(m_hood));
-  
-    OI.m_coPilotXbox.leftStick().whileTrue(new IntakeIndexCommandBackup(m_indexer, m_intake)); // backup intakeindex command in case beam break has issues
-    // OI.m_coPilotXbox.leftStick().whileTrue(new HoodRollerCommand(m_hood)); // for testing only!
+    // The robot's subsystems and commands are defined here...
+    private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
+    private static final OI m_humanControl = new OI();
+    public static final Drivetrain m_drivetrain = new Drivetrain(m_humanControl);
+    private static final Indexer m_indexer = new Indexer();
+    private static final Intake m_intake = new Intake();
+    private static final Shooter m_shooter = new Shooter();
+    private static final Hood m_hood = new Hood();
+
+    public SendableChooser<Command> m_chooser = new SendableChooser<>();
+
+    /** The container for the robot. Contains subsystems, OI devices, and commands. */
+    public RobotContainer() {
+        // Configure the trigger bindings
+        configureBindings();
+
+        // set default commands
+        m_drivetrain.setDefaultCommand(new ArcadeDriveCommand(m_drivetrain, m_humanControl));
+        // m_hood.setDefaultCommand(new PrintHoodEncoder(m_hood));
+
+        // auto routines
+        m_chooser.addOption("Drive 2 meters", new DistanceDriveCommand(m_drivetrain, 2));
+        m_chooser.addOption("Rotate 90 degrees", new RotationCommand(m_drivetrain, 90));
+        // m_chooser.addOption("Double drive", m_driveTwice);
+
+        ShuffleboardTab compTab = Shuffleboard.getTab("Comp HUD");
+        compTab.add("Auto Chooser", m_chooser).withSize(3, 2);
+    }
+
+    /**
+     * Use this method to define your trigger->command mappings. Triggers can be created via the
+     * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
+     * predicate, or via the named factories in {@link
+     * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
+     * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
+     * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
+     * joysticks}.
+     */
+    private void configureBindings() { // temp for testing 
+        OI.m_coPilotXbox.a().whileTrue(new ShooterHoodBackward(m_shooter, m_hood)); // emergency use button that should not be pressed in normal circumstances
+        OI.m_coPilotXbox.b().whileTrue(new OuttakeIndexCommand(m_indexer, m_intake)); // outtaking should not normally be necessary
+        OI.m_coPilotXbox.x().whileTrue(new IntakeIndexCommand(m_indexer, m_intake));
+        OI.m_coPilotXbox.y().whileTrue(new IndexerUpCommand(m_indexer));
+
+        OI.m_coPilotXbox.leftTrigger().whileTrue(new ShooterSpeakerCommand(m_shooter));
+        OI.m_coPilotXbox.rightTrigger().whileTrue(new ShooterAmpCommand(m_shooter, m_hood));
+
+        OI.m_coPilotXbox.leftBumper().whileTrue(new HoodPivotForwardCommand(m_hood));
+        OI.m_coPilotXbox.rightBumper().whileTrue(new HoodPivotBackwardCommand(m_hood));
+
+        // back and start buttons are backup commands for if the hood encoders mess up
+        OI.m_coPilotXbox.back().whileTrue(new HoodPivotForwardBackup(m_hood));
+        OI.m_coPilotXbox.start().whileTrue(new HoodPivotBackwardBackup(m_hood));
     
-  }
-
-  /**
-   * Use this to pass the autonomous command to the main {@link Robot} class.
-   *
-   * @return the command to run in autonomous
-   */
-  public Command getAutonomousCommand() {
-    // the selected command from shuffleboard that will be run in autonomous
-    return m_chooser.getSelected();
-  }
+        OI.m_coPilotXbox.leftStick().whileTrue(new IntakeIndexCommandBackup(m_indexer, m_intake)); // backup intakeindex command in case beam break has issues
+        // OI.m_coPilotXbox.leftStick().whileTrue(new HoodRollerCommand(m_hood)); // for testing only! 
+    }
+
+    /**
+     * Use this to pass the autonomous command to the main {@link Robot} class.
+     *
+     * @return the command to run in autonomous
+     */
+    public Command getAutonomousCommand() {
+        // the selected command from shuffleboard that will be run in autonomous
+        return m_chooser.getSelected();
+    }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/ArcadeDriveCommand.java b/src/main/java/frc/robot/commands/ArcadeDriveCommand.java
index 08ac909..4502c90 100644
--- a/src/main/java/frc/robot/commands/ArcadeDriveCommand.java
+++ b/src/main/java/frc/robot/commands/ArcadeDriveCommand.java
@@ -6,22 +6,32 @@
 import frc.robot.OI;
 import frc.robot.Constants.OperatorConstants;
 
-// import java.lang.Math.*;
-
+/**
+ * Command to arcade drive. Uses Drivetrain and OI subsystems.
+ */
 public class ArcadeDriveCommand extends Command {
+    // Instance variables
     private final Drivetrain m_drivetrain;
     private final OI m_humanControl;
 
+    /**
+     * Constructs an ArcadeDriveCommand command.
+     */
     public ArcadeDriveCommand(Drivetrain drivetrain, OI humanControl) {
         m_drivetrain = drivetrain;
         m_humanControl = humanControl;
         addRequirements(drivetrain);
     }
 
+    /**
+     * Method called once per time the command is scheduled.
+     */
     @Override
-    public void initialize() { }
+    public void initialize() {}
 
-    // Called every time the scheduler runs while the command is scheduled.
+    /**
+     * Method called repeatedly while the command is scheduled (every time the scheduler runs).
+     */
     @Override
     public void execute() {
         double xJoy = m_humanControl.getDriverXBoxLeftJoyY();
@@ -29,14 +39,22 @@ public void execute() {
         double x_val = Math.abs(xJoy) > OperatorConstants.DRIVER_JOYSTICK_DEADBAND ? xJoy : 0.0;
         double y_val = Math.abs(yJoy) > OperatorConstants.DRIVER_JOYSTICK_DEADBAND ? yJoy : 0.0;
 
-        m_drivetrain.arcadeDrive(OperatorConstants.DRIVE_SPEED_ADJUSTMENT * x_val, OperatorConstants.DRIVE_SPEED_ADJUSTMENT * y_val);
+        m_drivetrain.arcadeDrive(OperatorConstants.DRIVE_SPEED_ADJUSTMENT * x_val,
+            OperatorConstants.DRIVE_SPEED_ADJUSTMENT * y_val);
     }
 
-    // Called once the command ends or is interrupted.
+    /**
+     * Method called once when the command ends (whether it finishes normally or is interrupted).
+     */
     @Override
     public void end(boolean interrupted) {}
 
-    // Returns true when the command should end.
+    /**
+     * Method called repeatedly while the command is scheduled (returns false while the command is
+     * scheduled, true when the command should end).
+     * 
+     * @return  whether command is finished
+     */
     @Override
     public boolean isFinished() {
         return false;
diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
index dacf47c..f471390 100644
--- a/src/main/java/frc/robot/commands/Autos.java
+++ b/src/main/java/frc/robot/commands/Autos.java
@@ -1,26 +1,38 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.commands;
 
-import frc.robot.subsystems.*;
-import frc.robot.Constants.AutoConstants;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 
+import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.Drivetrain;
+import frc.robot.Constants.AutoConstants;
+
+/**
+ * Class to hold all auto commands.
+ */
 public final class Autos {
-  /** Example static factory for an autonomous command. */
-  public static Command exampleAuto(ExampleSubsystem subsystem) {
-    return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem));
-  }
+    /**
+     * Example static factory method to create autonomous command.
+     * 
+     * @return  sequence of example commands to run in series, one after another
+     */
+    public static Command exampleAuto(ExampleSubsystem subsystem) {
+        return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem));
+    }
 
-  public static Command taxiAuto(Drivetrain drivetrain) {
-    return new DistanceDriveCommand(drivetrain, AutoConstants.TAXI_AUTO_TARGET_DISTANCE);
-  }
+    /**
+     * Command to drive straight.
+     * 
+     * @return  DistanceDriveCommand to drive straight
+     */
+    public static Command taxiAuto(Drivetrain drivetrain) {
+        return new DistanceDriveCommand(drivetrain, AutoConstants.TAXI_AUTO_TARGET_DISTANCE);
+    }
 
-  private Autos() {
-    throw new UnsupportedOperationException("This is a utility class!");
-  }
+    /**
+     * Throws an error if Autos object is constructed.
+     */
+    private Autos() {
+        throw new UnsupportedOperationException("This is a utility class!");
+    }
 }
diff --git a/src/main/java/frc/robot/commands/DistanceDriveCommand.java b/src/main/java/frc/robot/commands/DistanceDriveCommand.java
index 7a78d7f..90ceb56 100644
--- a/src/main/java/frc/robot/commands/DistanceDriveCommand.java
+++ b/src/main/java/frc/robot/commands/DistanceDriveCommand.java
@@ -1,8 +1,7 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.Constants.AutoConstants;
 import frc.robot.Constants.DrivetrainConstants;
@@ -11,50 +10,51 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 
-
-/** A dead reckoning taxi command that uses the drivetrain subsystem. */
+/**
+ * Command to drive a set distance. Uses Drivetrain subsystem.
+ */
 public class DistanceDriveCommand extends Command {
-  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final Drivetrain m_drivetrain;
-  private double m_targetDistance;
-
-  /** 
-   * A dead reckoning drive command.
-   * Takes in target distance in meters and drives straight that amount.
-   */ 
-  public DistanceDriveCommand(Drivetrain drivetrain, double targetDistance) {
-    m_drivetrain = drivetrain;
-    m_targetDistance = targetDistance * DrivetrainConstants.METERS_TO_ROTATIONS; // convert meters to motor rotations
-    // System.out.println("Target meters: " + targetDistance + ", target rotations: " + m_targetDistance);
-
-    addRequirements(drivetrain);
-  }
-
-  @Override
-  public void initialize() {
-    // resets positions of encoders
-    m_drivetrain.setRightEncoder(0);
-    m_drivetrain.setleftEncoder(0);
-  }
-
-  @Override
-  public void execute() {
-    double thrust = AutoConstants.TAXI_AUTO_SPEED*Math.signum(m_targetDistance); // drives in the direction of targetDistance
-    m_drivetrain.tankDrive(-thrust, -thrust);
-    // System.out.println("Left encoder position: " + m_drivetrain.getLeftEncoderPosition() + ", Right encoder position: " + m_drivetrain.getRightEncoderPosition());
-  }
-
-  @Override
-  public void end(boolean interrupted) {
-    m_drivetrain.stopMotors();
-    m_drivetrain.setRightEncoder(0);
-    m_drivetrain.setleftEncoder(0);
-  }
-
-  @Override
-  public boolean isFinished() {
-    // calculates if either encoder has moved enough to reach the target distance
-    return (Math.abs(m_drivetrain.getRightEncoderPosition()) > Math.abs(m_targetDistance)
-    || Math.abs(m_drivetrain.getLeftEncoderPosition()) > Math.abs(m_targetDistance)); 
-  }
+    @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+    private final Drivetrain m_drivetrain;
+    private double m_targetDistance;
+
+    /** 
+     * A dead reckoning drive command.
+     * Takes in target distance in meters and drives straight that amount.
+     */ 
+    public DistanceDriveCommand(Drivetrain drivetrain, double targetDistance) {
+        m_drivetrain = drivetrain;
+        m_targetDistance = targetDistance * DrivetrainConstants.METERS_TO_ROTATIONS; // convert meters to motor rotations
+        // System.out.println("Target meters: " + targetDistance + ", target rotations: " + m_targetDistance);
+
+        addRequirements(drivetrain);
+    }
+
+    @Override
+    public void initialize() {
+        // resets positions of encoders
+        m_drivetrain.setRightEncoder(0);
+        m_drivetrain.setleftEncoder(0);
+    }
+
+    @Override
+    public void execute() {
+        double thrust = AutoConstants.TAXI_AUTO_SPEED*Math.signum(m_targetDistance); // drives in the direction of targetDistance
+        m_drivetrain.tankDrive(-thrust, -thrust);
+        // System.out.println("Left encoder position: " + m_drivetrain.getLeftEncoderPosition() + ", Right encoder position: " + m_drivetrain.getRightEncoderPosition());
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        m_drivetrain.stopMotors();
+        m_drivetrain.setRightEncoder(0);
+        m_drivetrain.setleftEncoder(0);
+    }
+
+    @Override
+    public boolean isFinished() {
+        // calculates if either encoder has moved enough to reach the target distance
+        return (Math.abs(m_drivetrain.getRightEncoderPosition()) > Math.abs(m_targetDistance)
+        || Math.abs(m_drivetrain.getLeftEncoderPosition()) > Math.abs(m_targetDistance)); 
+    }
 }
diff --git a/src/main/java/frc/robot/commands/ExampleCommand.java b/src/main/java/frc/robot/commands/ExampleCommand.java
index 6161529..de60a6c 100644
--- a/src/main/java/frc/robot/commands/ExampleCommand.java
+++ b/src/main/java/frc/robot/commands/ExampleCommand.java
@@ -1,34 +1,50 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+
 import frc.robot.subsystems.ExampleSubsystem;
 
-/** An example command that uses an example subsystem. */
+/**
+ * Command example. Uses ExampleSubsystem subsystem.
+ */
 public class ExampleCommand extends Command {
-  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final ExampleSubsystem m_subsystem;
-
-
-  public ExampleCommand(ExampleSubsystem subsystem) {
-    m_subsystem = subsystem;
-    addRequirements(subsystem);
-  }
-
-  @Override
-  public void initialize() {}
-
-  @Override
-  public void execute() {}
-
-  @Override
-  public void end(boolean interrupted) {}
-
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
+    // Instance variables
+    private final ExampleSubsystem m_subsystem;
+
+    /**
+     * Constructs an ExampleCommand command.
+     */
+    public ExampleCommand(ExampleSubsystem subsystem) {
+        m_subsystem = subsystem;
+        addRequirements(subsystem);
+    }
+
+    /**
+     * Method called once per time the command is scheduled.
+     */
+    @Override
+    public void initialize() {}
+
+    /**
+     * Method called repeatedly while the command is scheduled (every time the scheduler runs).
+     */
+    @Override
+    public void execute() {}
+
+    /**
+     * Method called once when the command ends (whether it finishes normally or is interrupted).
+     */
+    @Override
+    public void end(boolean interrupted) {}
+
+    /**
+     * Method called repeatedly while the command is scheduled (returns false while the command is
+     * scheduled, true when the command should end).
+     * 
+     * @return  whether command is finished
+     */
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
 }
diff --git a/src/main/java/frc/robot/commands/HoodPivotForwardCommand.java b/src/main/java/frc/robot/commands/HoodPivotForwardCommand.java
index 6d5049f..acfc45e 100644
--- a/src/main/java/frc/robot/commands/HoodPivotForwardCommand.java
+++ b/src/main/java/frc/robot/commands/HoodPivotForwardCommand.java
@@ -26,9 +26,9 @@ public void initialize() {
     @Override
     public void execute() {
         // If hood pass 80% of pivot distance, it slows
-        if(Math.abs(m_hood.getPivotEncoderPosition()) > 0.8*Math.abs(HoodConstants.PIVOT_DISTANCE)){
+        if (Math.abs(m_hood.getPivotEncoderPosition()) > (0.8 * Math.abs(HoodConstants.PIVOT_DISTANCE))) {
             m_hood.runPivotHoodMotor(-HoodConstants.SLOW_PIVOT_MOTOR_SPEED);
-        }else{
+        } else {
             m_hood.runPivotHoodMotor(-HoodConstants.PIVOT_MOTOR_SPEED);
         }
         System.out.println(m_hood.getPivotEncoderPosition());
diff --git a/src/main/java/frc/robot/commands/IntakeIndexCommand.java b/src/main/java/frc/robot/commands/IntakeIndexCommand.java
index 7e04b2e..42337a3 100644
--- a/src/main/java/frc/robot/commands/IntakeIndexCommand.java
+++ b/src/main/java/frc/robot/commands/IntakeIndexCommand.java
@@ -31,14 +31,12 @@ public void initialize() {
     public void execute() {
         m_indexer.runIndexerMotor(IndexerConstants.INDEXER_MOTOR_SPEED_UP);
         m_intake.runIntakeMotor(IntakeConstants.INTAKE_MOTOR_SPEED_IN);
-
     }
 
     @Override
     public void end(boolean interrupted) {
         m_indexer.indexerOff();
         m_intake.intakeOff();
-
     }
 
     @Override
diff --git a/src/main/java/frc/robot/commands/IntakeIndexCommandBackup.java b/src/main/java/frc/robot/commands/IntakeIndexCommandBackup.java
index deb54db..ce47c7e 100644
--- a/src/main/java/frc/robot/commands/IntakeIndexCommandBackup.java
+++ b/src/main/java/frc/robot/commands/IntakeIndexCommandBackup.java
@@ -29,14 +29,12 @@ public void initialize() {
     public void execute() {
         m_indexer.runIndexerMotor(IndexerConstants.INDEXER_MOTOR_SPEED_UP_BACKUP);
         m_intake.runIntakeMotor(IntakeConstants.INTAKE_MOTOR_SPEED_IN);
-
     }
 
     @Override
     public void end(boolean interrupted) {
         m_indexer.indexerOff();
         m_intake.intakeOff();
-
     }
 
     @Override
diff --git a/src/main/java/frc/robot/commands/IntakeOutCommand.java b/src/main/java/frc/robot/commands/IntakeOutCommand.java
index 29e73a9..eb4935f 100644
--- a/src/main/java/frc/robot/commands/IntakeOutCommand.java
+++ b/src/main/java/frc/robot/commands/IntakeOutCommand.java
@@ -1,6 +1,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+
 import frc.robot.subsystems.Intake;
 import frc.robot.Constants.IntakeConstants;
 
@@ -16,21 +17,36 @@ public IntakeOutCommand(Intake intake){
         addRequirements(intake);
     }
 
+    /**
+     * Method called once per time the command is scheduled.
+     */
     @Override
     public void initialize() {
         // System.out.println("INTAKE SUCK COMMAND STARTED");
     }  
 
+    /**
+     * Method called repeatedly while the command is scheduled (every time the scheduler runs).
+     */
     @Override
     public void execute() {
         m_intake.runIntakeMotor(IntakeConstants.INTAKE_MOTOR_SPEED_OUT);
     }
 
+    /**
+     * Method called once when the command ends (whether it finishes normally or is interrupted).
+     */
     @Override
     public void end(boolean interrupted) {
         m_intake.intakeOff();
     }
 
+    /**
+     * Method called repeatedly while the command is scheduled (returns false while the command is
+     * scheduled, true when the command should end).
+     * 
+     * @return  whether command is finished
+     */
     @Override
     public boolean isFinished() {
        return false;
diff --git a/src/main/java/frc/robot/commands/OuttakeIndexCommand.java b/src/main/java/frc/robot/commands/OuttakeIndexCommand.java
index 589cfa1..69c8922 100644
--- a/src/main/java/frc/robot/commands/OuttakeIndexCommand.java
+++ b/src/main/java/frc/robot/commands/OuttakeIndexCommand.java
@@ -29,14 +29,12 @@ public void initialize() {
     public void execute() {
         m_indexer.runIndexerMotor(IndexerConstants.INDEXER_MOTOR_SPEED_DOWN);
         m_intake.runIntakeMotor(IntakeConstants.INTAKE_MOTOR_SPEED_OUT);
-
     }
 
     @Override
     public void end(boolean interrupted) {
         m_indexer.indexerOff();
         m_intake.intakeOff();
-
     }
 
     @Override
diff --git a/src/main/java/frc/robot/commands/PrintHoodEncoder.java b/src/main/java/frc/robot/commands/PrintHoodEncoder.java
index 3a96875..dfab3f0 100644
--- a/src/main/java/frc/robot/commands/PrintHoodEncoder.java
+++ b/src/main/java/frc/robot/commands/PrintHoodEncoder.java
@@ -20,7 +20,7 @@ public void initialize() {
 
     @Override
     public void execute() {
-      System.out.println(m_hood.getPivotEncoderPosition());
+        System.out.println(m_hood.getPivotEncoderPosition());
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
index be037cb..67debcf 100644
--- a/src/main/java/frc/robot/subsystems/Climber.java
+++ b/src/main/java/frc/robot/subsystems/Climber.java
@@ -7,7 +7,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.ClimberConstants;
 
-/* THIS CODE IS PLACEHOLDER CODE AND NEEDS TO BE REPLACED WHEN CLIMBER DESIGN IS FINALIZED */
+import frc.robot.Constants.ClimberConstants;
 
 public class Climber extends SubsystemBase {
     private final CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_MOTOR_PORT, MotorType.kBrushless);
@@ -15,34 +15,51 @@ public class Climber extends SubsystemBase {
     private final SparkRelativeEncoder m_climberEncoder = (SparkRelativeEncoder) m_climberMotor
         .getEncoder(SparkRelativeEncoder.Type.kHallSensor, ClimberConstants.COUNTS_PER_REV);
     
-    // Constructor for the Intake class
-    public Climber(){
-    }
+    /**
+     * Constructs a Climber subsystem.
+     */
+    public Climber() {}
 
-    // returns encoder position
+    /**
+     * Gets climber encoder position.
+     * 
+     * @return  current encoder position (in "rotations")
+     */
     public double getclimberEncoderPosition() {
         return m_climberEncoder.getPosition();
     }
 
-    // sets encoder to desired position
+    /**
+     * Sets climber encoder position.
+     * 
+     * @param  position  desired encoder position (in "rotations")
+     */
     public void setClimberEncoderPosition(double position) {
         m_climberEncoder.setPosition(position);
     }
 
-    // initializes encoder position to 0 - MAKE SURE INTAKE IS ALWAYS FULLY UP WHENEVER THIS METHOD IS CALLED
+    /**
+     * Initializes climber encoder position to 0.
+     */
     public void initializeClimberEncoderPosition() {
-        setClimberEncoderPosition(0); // TO DO: WRITE THE SET FUNCTION
+        setClimberEncoderPosition(0);
     }
 
-    // Sets intake motor speed (forward if positive, backward if negative)
+    /**
+     * Sets climber motor speed (forward if positive / backward if negative).
+     * 
+     * @param  speed  desired motor speed (between -1.0 and 1.0)
+     */
     public void runClimberMotor(double speed){
         m_climberMotor.set(speed);
     }
 
-    // Sets intake motor speed to zero and stops motor
+    /**
+     * Sets climber motor speed to 0 and stops motor.
+     */
     public void climberOff() {
-      m_climberMotor.set(0);
-      m_climberMotor.stopMotor();
+        m_climberMotor.set(0);
+        m_climberMotor.stopMotor();
     }
 
 }
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 5722169..a0c6b2f 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -140,4 +140,4 @@ public void tankDrive(double leftSpeed, double rightSpeed) {
     public void stopMotors() {
         m_robotDrive.stopMotor();
     }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
index 8582eb3..f1122e7 100644
--- a/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ExampleSubsystem.java
@@ -1,9 +1,6 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -11,20 +8,45 @@ public class ExampleSubsystem extends SubsystemBase {
   /** Creates a new ExampleSubsystem. */
   public ExampleSubsystem() {}
 
-  public Command exampleMethodCommand() {
-    // Inline construction of command goes here.
-    // Subsystem::RunOnce implicitly requires `this` subsystem.
-    return runOnce(()
-                       -> {
-                           /* one-time action goes here */
-                       });
-  }
+    /**
+     * Factory method to create command (not being used right now).
+     *
+     * @return  a command
+     */
+    public Command exampleMethodCommand() {
+        // Inline construction of command
+        // Subsystem::RunOnce implicitly requires `this` subsystem
+        return runOnce(
+            () -> {
+            // One-time action
+            }
+        );
+    }
 
-  public boolean exampleCondition() { return false; }
+    /**
+     * Method to query a boolean state of the subsystem (not being used right now).
+     *
+     * @return  value of some boolean subsystem state
+     */
+    public boolean exampleCondition() {
+        // Query some boolean state, such as a digital sensor
+        return false;
+    }
 
-  @Override
-  public void periodic() {}
+    /**
+     * Method to be called once every scheduler run (not being used right now).
+     */
+    @Override
+    public void periodic() {
+        // Typically used for telemetry and other periodic actions that do not interfere with
+        // commands
+    }
 
-  @Override
-  public void simulationPeriodic() {}
+    /**
+     * Method to be called once every scheduler run during simulation (not being used right now).
+     */
+    @Override
+    public void simulationPeriodic() {
+        // Can be used to update state of robot
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Indexer.java b/src/main/java/frc/robot/subsystems/Indexer.java
index 9cc57ca..3b0122c 100644
--- a/src/main/java/frc/robot/subsystems/Indexer.java
+++ b/src/main/java/frc/robot/subsystems/Indexer.java
@@ -15,37 +15,37 @@
 
 public class Indexer extends SubsystemBase {
 
-  // instance variables
-  private final CANSparkMax m_indexerMotor = new CANSparkMax(IndexerConstants.INDEXER_MOTOR_PORT, MotorType.kBrushless);
-  private final SparkRelativeEncoder m_indexerEncoder = (SparkRelativeEncoder) m_indexerMotor
-      .getEncoder(SparkRelativeEncoder.Type.kHallSensor, IndexerConstants.COUNTS_PER_REV);
-
-  // constructor
-  public Indexer() {}
-
-  // Sets Indexer motor speed (forward if positive, backward if negative)
-  public void runIndexerMotor(double speed) {
-    m_indexerMotor.set(speed);
-  }
-
-  // Sets Indexer motor speed to zero and stops motor
-  public void indexerOff() {
-    m_indexerMotor.set(0);
-    m_indexerMotor.stopMotor();
-  }
-
-  // returns encoder position
-  public double getEncoderPosition() {
-    return m_indexerEncoder.getPosition();
-  }
-
-  // sets encoder to desired position
-  public void setEncoderPosition(double position) {
-      m_indexerEncoder.setPosition(position);
-  }
-
-  // returns encoder velocity
-  public double getEncoderVelocity() {
-    return m_indexerEncoder.getVelocity();
-  }
+    // instance variables
+    private final CANSparkMax m_indexerMotor = new CANSparkMax(IndexerConstants.INDEXER_MOTOR_PORT, MotorType.kBrushless);
+    private final SparkRelativeEncoder m_indexerEncoder = (SparkRelativeEncoder) m_indexerMotor
+            .getEncoder(SparkRelativeEncoder.Type.kHallSensor, IndexerConstants.COUNTS_PER_REV);
+
+    // constructor
+    public Indexer() {}
+
+    // Sets Indexer motor speed (forward if positive, backward if negative)
+    public void runIndexerMotor(double speed) {
+        m_indexerMotor.set(speed);
+    }
+
+    // Sets Indexer motor speed to zero and stops motor
+    public void indexerOff() {
+        m_indexerMotor.set(0);
+        m_indexerMotor.stopMotor();
+    }
+
+    // returns encoder position
+    public double getEncoderPosition() {
+        return m_indexerEncoder.getPosition();
+    }
+
+    // sets encoder to desired position
+    public void setEncoderPosition(double position) {
+        m_indexerEncoder.setPosition(position);
+    }
+
+    // returns encoder velocity
+    public double getEncoderVelocity() {
+        return m_indexerEncoder.getVelocity();
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 778f313..2614ab8 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -15,37 +15,38 @@
 
 public class Intake extends SubsystemBase {
 
-  // instance variables
-  private final CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_PORT, MotorType.kBrushless);
-  private final SparkRelativeEncoder m_intakeEncoder = (SparkRelativeEncoder) m_intakeMotor
-      .getEncoder(SparkRelativeEncoder.Type.kHallSensor, IntakeConstants.COUNTS_PER_REV);
-
-  // constructor
-  public Intake() {}
-
-  // Sets intake motor speed (forward if positive, backward if negative)
-  public void runIntakeMotor(double speed) {
-    m_intakeMotor.set(speed);
-  }
-
-  // Sets intake motor speed to zero and stops motor
-  public void intakeOff() {
-    m_intakeMotor.set(0);
-    m_intakeMotor.stopMotor();
-  }
-
-  // returns encoder position
-  public double getEncoderPosition() {
-    return m_intakeEncoder.getPosition();
-  }
-
-  // sets encoder to desired position
-  public void setEncoderPosition(double position) {
-      m_intakeEncoder.setPosition(position);
-  }
-
-  // returns encoder velocity
-  public double getEncoderVelocity() {
-    return m_intakeEncoder.getVelocity();
-  }
-}
+    // instance variables
+    private final CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_PORT,
+        MotorType.kBrushless);
+    private final SparkRelativeEncoder m_intakeEncoder = (SparkRelativeEncoder)
+        m_intakeMotor.getEncoder(SparkRelativeEncoder.Type.kHallSensor, IntakeConstants.COUNTS_PER_REV);
+
+    // constructor
+    public Intake() {}
+
+    // Sets intake motor speed (forward if positive, backward if negative)
+    public void runIntakeMotor(double speed) {
+        m_intakeMotor.set(speed);
+    }
+
+    // Sets intake motor speed to zero and stops motor
+    public void intakeOff() {
+        m_intakeMotor.set(0);
+        m_intakeMotor.stopMotor();
+    }
+
+    // returns encoder position
+    public double getEncoderPosition() {
+        return m_intakeEncoder.getPosition();
+    }
+
+    // sets encoder to desired position
+    public void setEncoderPosition(double position) {
+        m_intakeEncoder.setPosition(position);
+    }
+
+    // returns encoder velocity
+    public double getEncoderVelocity() {
+        return m_intakeEncoder.getVelocity();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index ac5fbdb..3bdc599 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -14,35 +14,36 @@
 // ***NEED TO BE UPDATED FOR 2024 SEASON***
 
 public class Shooter extends SubsystemBase {
-  private final CANSparkMax m_shooterMotor = new CANSparkMax(ShooterConstants.SHOOTER_MOTOR_PORT, MotorType.kBrushless);
-  private final SparkRelativeEncoder m_shooterEncoder = (SparkRelativeEncoder) m_shooterMotor
-      .getEncoder(SparkRelativeEncoder.Type.kHallSensor, ShooterConstants.COUNTS_PER_REV);
-
-  public Shooter() {}
-
-  // Sets intake motor speed (forward if positive, backward if negative)
-  public void runShooterMotor(double speed) {
-    m_shooterMotor.set(speed);
-  }
-
-  // Sets intake motor speed to zero and stops motor
-  public void shooterOff() {
-    m_shooterMotor.set(0);
-    m_shooterMotor.stopMotor();
-  }
-
-  // returns encoder position
-  public double getEncoderPosition() {
-    return m_shooterEncoder.getPosition();
-  }
-
-  // sets encoder to desired position
-  public void setEncoderPosition(double position) {
-      m_shooterEncoder.setPosition(position);
-  }
-
-  // returns encoder velocity
-  public double getEncoderVelocity() {
-    return m_shooterEncoder.getVelocity();
-  }
+    private final CANSparkMax m_shooterMotor = new CANSparkMax(ShooterConstants.SHOOTER_MOTOR_PORT,
+        MotorType.kBrushless);
+    private final SparkRelativeEncoder m_shooterEncoder = (SparkRelativeEncoder)
+        m_shooterMotor.getEncoder(SparkRelativeEncoder.Type.kHallSensor, ShooterConstants.COUNTS_PER_REV);
+
+    public Shooter() {}
+
+    // Sets intake motor speed (forward if positive, backward if negative)
+    public void runShooterMotor(double speed) {
+        m_shooterMotor.set(speed);
+    }
+
+    // Sets intake motor speed to zero and stops motor
+    public void shooterOff() {
+        m_shooterMotor.set(0);
+        m_shooterMotor.stopMotor();
+    }
+
+    // returns encoder position
+    public double getEncoderPosition() {
+        return m_shooterEncoder.getPosition();
+    }
+
+    // sets encoder to desired position
+    public void setEncoderPosition(double position) {
+        m_shooterEncoder.setPosition(position);
+    }
+
+    // returns encoder velocity
+    public double getEncoderVelocity() {
+        return m_shooterEncoder.getVelocity();
+    }
 }
\ No newline at end of file