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SubsystemsConstants.Drivetrain.SET_POINT,SubsystemsConstants.Drivetrain.SETTINGS);\n+\t\tDrivetrainWithPID = new DriveTankWithPID(Drivetrain, SubsystemsComponents.Drivetrain.ENCODER_LEFT,\n+\t\t\t\tSubsystemsComponents.Drivetrain.ENCODER_RIGHT, SubsystemsConstants.Drivetrain.SET_POINT,\n+\t\t\t\tSubsystemsConstants.Drivetrain.SETTINGS);\n \t\tdbc = new DashBoardController();\n-\t\tdbc.addDouble(\"Drivetrain's Speed left\",SubsystemsComponents.Drivetrain.LEFT_SPEEDCONTROLLER::get);\n-\t\tdbc.addDouble(\"Drivetrain's Speed right\",SubsystemsComponents.Drivetrain.RIGHT_SPEEDCONTROLLER::get);\n-\t\tSmartDashboard.putData(\"Drive Straight\",new DriveStraight());\n-\t\tSmartDashboard.putData(\"Drive With PID\",DrivetrainWithPID);\n-\t\tDrivetrain = new TankDrivetrain(new InvertedConsumer(SubsystemsComponents.Drivetrain.LEFT_SPEEDCONTROLLER::set),(SubsystemsComponents.Drivetrain.RIGHT_SPEEDCONTROLLER::set));\n-\t\tDrivetrain.setDefaultCommand(new DriveTank(Drivetrain,oi.getLeftY(),oi.getRightY()));\n+\t\tdbc.addDouble(\"Drivetrain's Speed left\", \n+\t\t\t\tSubsystemsComponents.Drivetrain.LEFT_SPEED_CONTROLLER::get);\n+\t\tdbc.addDouble(\"Drivetrain's Speed right\",\n+\t\t\t\tSubsystemsComponents.Drivetrain.RIGHT_SPEED_CONTROLLER::get);\n+\t\tSmartDashboard.putData(\"Drive Straight\", new DriveStraight());\n+\t\tSmartDashboard.putData(\"Drive With PID\", DrivetrainWithPID);\n+\t\tDrivetrain = new TankDrivetrain(\n+\t\t\t\tnew InvertedConsumer(SubsystemsComponents.Drivetrain.LEFT_SPEED_CONTROLLER::set),\n+\t\t\t\t(SubsystemsComponents.Drivetrain.RIGHT_SPEED_CONTROLLER::set));\n+\t\tDrivetrain.setDefaultCommand(new DriveTank(Drivetrain, oi.getLeftY(), oi.getRightY()));\n+\t\tshooter = new BasicSubsystem(SubsystemsComponents.Shooter.SPEEDCONTROLLER_1::set, new Limitless());\n+\t\tshooterWithPID = new MoveBasicSubsystemWithPID(shooter, 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