Use Talon-SRX motion profile example (found here) to fix the pushing of mp points and running of trajectory.

The benefit of singleton classes is enough to make the swapover.

What is a singleton

public class Drive {
private static Drive mInstance = null;
private Drive {}

public synchronized static Drive getInstance() {
if (mInstance == null){
mInstance = new Drive();
}
return mInstance;
}
}

Make use of the new .configFactoryDefault() call to make a nice looking constructor for our Talon SRXs

Continually check state for isDisabled() call, not only when setState() is called.

• Have DesiredState method, so not dependent on controlling methods to call setState.

Learn how to properly PID tune and do such for motion profiling

Be able to chose version of switch and scale independently, instead of together.

While a state machine isn't necessary for controlling this years robot, let's expect it to be for the 2019 season.

Goals to complete:

• Be comfortable with and understand the model and its benefits
• Control current robot with superstructure

Abstract logging calls to clean up FileManagement.java

Rewrite autonChooser(), controllerChooser(), and setAutons() to be more readable.

Use GZCommand to store title and command in one object.

• Add notifier?
• 254 Loop Folder

Error detection could be improved if elevator limit switches were normally closed instead of normally open. Since we (for whatever reason) the only way we can set which limit switch limits a direction is by changing normally open to normally closed, the elevator limits must be switched on the hardware.

We need some way (DIO dummy plugs?) to disable each subsystem.

• Should we let it disable() when connected to FMS?
• Individual pins that disable a system while in the pits, a secondary master pin which disables on the field?

In talonInit() of drivetrain and elevator, lets see (by pulling breakers on talons) what the output of failed calls is, and determine if we need to wrap these calls to further display the error.

• Develop Health Checker to write to HTML file for visual representation of subsystem health.

Instead of using the scheduler and commands to run teleop, use series of if statements to switch subsystem states.