Just a helpful tip

[realitii]

In the drivetrain subsystem (Drivetrain.java), you determine whether an encoder based movement is finished with the toPosition() method on line 165. Instead of establishing that the difference in counts is equal to zero, you should evaluate to where the difference is less than epsilon, where epsilon is an arbitrarily small number.

Otherwise your Encoder auto will never terminate :)

[realitii]

The yeet auto is absolutely hilarious by the way. I love it.