From 836690ff5d3777cb9593be0e0cb7565df0d39e8c Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Fri, 14 Feb 2025 06:11:40 +0200
Subject: [PATCH 01/47] added orchestra stuff

---
 .../phoenix6/talonfx/TalonFXMotor.java        |  5 +++
 .../org/trigon/utilities/TrigonOrchestra.java | 44 +++++++++++++++++++
 2 files changed, 49 insertions(+)
 create mode 100644 src/main/java/org/trigon/utilities/TrigonOrchestra.java

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index 5a351b01..1f5a02a9 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -10,6 +10,7 @@
 import org.trigon.hardware.phoenix6.talonfx.io.RealTalonFXIO;
 import org.trigon.hardware.phoenix6.talonfx.io.SimulationTalonFXIO;
 import org.trigon.hardware.simulation.MotorPhysicsSimulation;
+import org.trigon.utilities.TrigonOrchestra;
 
 /**
  * A class that represents a TalonFX motor controller.
@@ -191,6 +192,10 @@ public void setBrake(boolean brake) {
         motorIO.setBrake(brake);
     }
 
+    public void addToTrigonOrchestra(int trackNumber) {
+        TrigonOrchestra.addMotor(motorIO.getTalonFX(), trackNumber);
+    }
+
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
         final TalonFX talonFX = motorIO.getTalonFX();
         if (RobotHardwareStats.isReplay() || talonFX == null)
diff --git a/src/main/java/org/trigon/utilities/TrigonOrchestra.java b/src/main/java/org/trigon/utilities/TrigonOrchestra.java
new file mode 100644
index 00000000..3a4f02e1
--- /dev/null
+++ b/src/main/java/org/trigon/utilities/TrigonOrchestra.java
@@ -0,0 +1,44 @@
+package org.trigon.utilities;
+
+import com.ctre.phoenix6.Orchestra;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+public class TrigonOrchestra {
+    private static final Orchestra ORCHESTRA = new Orchestra();
+
+    public static void addMotor(TalonFX motor, int trackNumber) {
+        ORCHESTRA.addInstrument(motor, trackNumber);
+    }
+
+    public static void addTrack(String trackFile) {
+        ORCHESTRA.loadMusic(trackFile);
+    }
+
+    public static void clearAllMotors() {
+        ORCHESTRA.clearInstruments();
+    }
+
+    public static void playTrack() {
+        ORCHESTRA.play();
+    }
+
+    public static void pauseTrack() {
+        ORCHESTRA.pause();
+    }
+
+    public static void stopTrack() {
+        ORCHESTRA.stop();
+    }
+
+    public static void closeTrack() {
+        ORCHESTRA.close();
+    }
+
+    public static boolean isTrackPlaying() {
+        return ORCHESTRA.isPlaying();
+    }
+
+    public static double getCurrentTrackTime() {
+        return ORCHESTRA.getCurrentTime();
+    }
+}

From 51bd0c6acaeb652b893aefd2c118bc6a82a7d14d Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Fri, 14 Feb 2025 06:38:25 +0200
Subject: [PATCH 02/47] changed name from TrigonOrchestra to Orchestra

---
 .../org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java   | 4 ++--
 .../utilities/{TrigonOrchestra.java => Orchestra.java}       | 5 ++---
 2 files changed, 4 insertions(+), 5 deletions(-)
 rename src/main/java/org/trigon/utilities/{TrigonOrchestra.java => Orchestra.java} (86%)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index 1f5a02a9..8275b470 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -10,7 +10,7 @@
 import org.trigon.hardware.phoenix6.talonfx.io.RealTalonFXIO;
 import org.trigon.hardware.phoenix6.talonfx.io.SimulationTalonFXIO;
 import org.trigon.hardware.simulation.MotorPhysicsSimulation;
-import org.trigon.utilities.TrigonOrchestra;
+import org.trigon.utilities.Orchestra;
 
 /**
  * A class that represents a TalonFX motor controller.
@@ -193,7 +193,7 @@ public void setBrake(boolean brake) {
     }
 
     public void addToTrigonOrchestra(int trackNumber) {
-        TrigonOrchestra.addMotor(motorIO.getTalonFX(), trackNumber);
+        Orchestra.addMotor(motorIO.getTalonFX(), trackNumber);
     }
 
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
diff --git a/src/main/java/org/trigon/utilities/TrigonOrchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
similarity index 86%
rename from src/main/java/org/trigon/utilities/TrigonOrchestra.java
rename to src/main/java/org/trigon/utilities/Orchestra.java
index 3a4f02e1..d93680da 100644
--- a/src/main/java/org/trigon/utilities/TrigonOrchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -1,10 +1,9 @@
 package org.trigon.utilities;
 
-import com.ctre.phoenix6.Orchestra;
 import com.ctre.phoenix6.hardware.TalonFX;
 
-public class TrigonOrchestra {
-    private static final Orchestra ORCHESTRA = new Orchestra();
+public class Orchestra {
+    private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
 
     public static void addMotor(TalonFX motor, int trackNumber) {
         ORCHESTRA.addInstrument(motor, trackNumber);

From ae0cd14ef0ed15e69ebbae8f7f88867926233d39 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sun, 16 Feb 2025 09:11:56 +0200
Subject: [PATCH 03/47] Ugliness so @ShmayaR can clean :)

---
 .../phoenix6/talonfx/TalonFXMotor.java        |  4 +-
 .../java/org/trigon/utilities/Orchestra.java  | 40 ++++++++++++++++---
 2 files changed, 36 insertions(+), 8 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index 8275b470..64a0b9f4 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -192,8 +192,8 @@ public void setBrake(boolean brake) {
         motorIO.setBrake(brake);
     }
 
-    public void addToTrigonOrchestra(int trackNumber) {
-        Orchestra.addMotor(motorIO.getTalonFX(), trackNumber);
+    public void addToOrchestra() {
+        Orchestra.addMotor(motorIO.getTalonFX());
     }
 
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index d93680da..7ce4fc42 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -2,11 +2,43 @@
 
 import com.ctre.phoenix6.hardware.TalonFX;
 
+import java.util.ArrayList;
+
 public class Orchestra {
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
+    private static final ArrayList<TalonFX> MOTORS = new ArrayList<>();
+
+    public static void addMotor(TalonFX motor) {
+        MOTORS.add(motor);
+    }
+
+    public static void playTrack(String trackFile, int tracks) {
+        for (int i = 0; i < MOTORS.size(); i++) {
+            ORCHESTRA.addInstrument(MOTORS.get(i), i % tracks + 1);
+        }
+        addTrack(trackFile);
+        playTrack();
+    }
+
+    public static void playTrack(String trackFile, int... perTrack) throws IllegalStateException {
+        int total = 0,
+                index = 0;
+        for (int i = 0; i < perTrack.length; i++) {
+            total += perTrack[i];
+            if (total > MOTORS.size())
+                throw new IllegalStateException("Not enough motors");
+            for (int j = 0; j < perTrack[i]; i++) {
+                ORCHESTRA.addInstrument(MOTORS.get(index++), i + 1);
+            }
+        }
+
+        addTrack(trackFile);
+        playTrack();
+    }
 
-    public static void addMotor(TalonFX motor, int trackNumber) {
-        ORCHESTRA.addInstrument(motor, trackNumber);
+    public static void stopTrack() {
+        ORCHESTRA.stop();
+        clearAllMotors();
     }
 
     public static void addTrack(String trackFile) {
@@ -25,10 +57,6 @@ public static void pauseTrack() {
         ORCHESTRA.pause();
     }
 
-    public static void stopTrack() {
-        ORCHESTRA.stop();
-    }
-
     public static void closeTrack() {
         ORCHESTRA.close();
     }

From 38060abc22e4311c14085af24172dfc533815d2f Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sun, 16 Feb 2025 09:13:54 +0200
Subject: [PATCH 04/47] =?UTF-8?q?Hard=20code=20=F0=9F=92=AA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../trigon/hardware/phoenix6/talonfx/io/RealTalonFXIO.java    | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/io/RealTalonFXIO.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/io/RealTalonFXIO.java
index b465e437..385f76d2 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/io/RealTalonFXIO.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/io/RealTalonFXIO.java
@@ -25,6 +25,10 @@ protected void setPosition(double positionRotations) {
 
     @Override
     public void applyConfiguration(TalonFXConfiguration configuration) {
+        configuration.Audio.BeepOnBoot = false;
+        configuration.Audio.BeepOnConfig = false;
+        configuration.Audio.AllowMusicDurDisable = true;
+
         talonFX.getConfigurator().apply(configuration);
     }
 

From 4f06706691ff229565571565173c494ea9740f3f Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Sun, 16 Feb 2025 11:34:32 +0200
Subject: [PATCH 05/47] added java docs

---
 .../phoenix6/talonfx/TalonFXMotor.java        |  3 +
 .../java/org/trigon/utilities/Orchestra.java  | 57 +++++++++++++++++--
 2 files changed, 56 insertions(+), 4 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index 64a0b9f4..01a8c3c9 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -192,6 +192,9 @@ public void setBrake(boolean brake) {
         motorIO.setBrake(brake);
     }
 
+    /**
+     * Adds the motor to the Orchestra.
+     */
     public void addToOrchestra() {
         Orchestra.addMotor(motorIO.getTalonFX());
     }
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 7ce4fc42..cc8c7dc9 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -8,18 +8,37 @@ public class Orchestra {
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
     private static final ArrayList<TalonFX> MOTORS = new ArrayList<>();
 
+    /**
+     * adds a motor to the array list MOTORS.
+     *
+     * @param motor the motor to be added to MOTORS
+     */
     public static void addMotor(TalonFX motor) {
         MOTORS.add(motor);
     }
 
+    /**
+     * sets a track file to the Orchestra and assigns a track to each motor added to the Orchestra.
+     * if the number of motors exceeds the amount of tracks then the extra motors will be assigned used tracks.
+     *
+     * @param trackFile the track file to be added to the Orchestra
+     * @param tracks    how many tracks should be assigned to the motors
+     */
     public static void playTrack(String trackFile, int tracks) {
-        for (int i = 0; i < MOTORS.size(); i++) {
+        for (int i = 0; i < MOTORS.size(); i++)
             ORCHESTRA.addInstrument(MOTORS.get(i), i % tracks + 1);
-        }
         addTrack(trackFile);
         playTrack();
     }
 
+    /**
+     * sets a track file to the Orchestra and assigns one or multiple motors in the Orchestra a single track.
+     * works with multiple tracks
+     *
+     * @param trackFile the track file to be added to the Orchestra
+     * @param perTrack  how many motors should get assigned to a track
+     * @throws IllegalStateException if the amount of motors is below the amount of tracks to be assigned
+     */
     public static void playTrack(String trackFile, int... perTrack) throws IllegalStateException {
         int total = 0,
                 index = 0;
@@ -27,44 +46,74 @@ public static void playTrack(String trackFile, int... perTrack) throws IllegalSt
             total += perTrack[i];
             if (total > MOTORS.size())
                 throw new IllegalStateException("Not enough motors");
-            for (int j = 0; j < perTrack[i]; i++) {
+            for (int j = 0; j < perTrack[i]; i++)
                 ORCHESTRA.addInstrument(MOTORS.get(index++), i + 1);
-            }
+
         }
 
         addTrack(trackFile);
         playTrack();
     }
 
+    /**
+     * stops the Orchestra from playing and clears all the motors from it.
+     */
     public static void stopTrack() {
         ORCHESTRA.stop();
         clearAllMotors();
     }
 
+    /**
+     * adds a track file to the Orchestra.
+     *
+     * @param trackFile the file to be added to the Orchestra
+     */
     public static void addTrack(String trackFile) {
         ORCHESTRA.loadMusic(trackFile);
     }
 
+    /**
+     * clears all the motors from the Orchestra
+     */
     public static void clearAllMotors() {
         ORCHESTRA.clearInstruments();
     }
 
+    /**
+     * plays the track in the Orchestra.
+     */
     public static void playTrack() {
         ORCHESTRA.play();
     }
 
+    /**
+     * pauses the track in the Orchestra.
+     */
     public static void pauseTrack() {
         ORCHESTRA.pause();
     }
 
+    /**
+     * closes the Orchestra.
+     */
     public static void closeTrack() {
         ORCHESTRA.close();
     }
 
+    /**
+     * a function to determine whether the track is playing.
+     *
+     * @return if the track is playing
+     */
     public static boolean isTrackPlaying() {
         return ORCHESTRA.isPlaying();
     }
 
+    /**
+     * a function to get how much time the Orchestra has been playing.
+     *
+     * @return how long the Orchestra has been playing
+     */
     public static double getCurrentTrackTime() {
         return ORCHESTRA.getCurrentTime();
     }

From c6169f9f787ef7afca40243398f7bc99828b8b71 Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Sun, 16 Feb 2025 13:18:00 +0200
Subject: [PATCH 06/47] rewrote java docs

---
 .../phoenix6/talonfx/TalonFXMotor.java        |  6 +-
 .../java/org/trigon/utilities/Orchestra.java  | 87 ++++++++++---------
 2 files changed, 52 insertions(+), 41 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index 01a8c3c9..f21a7bb3 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -32,6 +32,7 @@ public class TalonFXMotor {
      */
     public TalonFXMotor(int id, String motorName) {
         this(id, motorName, "");
+        addToOrchestra();
     }
 
     /**
@@ -193,9 +194,10 @@ public void setBrake(boolean brake) {
     }
 
     /**
-     * Adds the motor to the Orchestra.
+     * Adds the TalonFX to the Orchestra.
+     * Orchestra plays a track of music in one or more motors.
      */
-    public void addToOrchestra() {
+    private void addToOrchestra() {
         Orchestra.addMotor(motorIO.getTalonFX());
     }
 
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index cc8c7dc9..206b0518 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -6,57 +6,66 @@
 
 public class Orchestra {
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
-    private static final ArrayList<TalonFX> MOTORS = new ArrayList<>();
+    private static final ArrayList<TalonFX> TALON_FXES = new ArrayList<>();
 
     /**
-     * adds a motor to the array list MOTORS.
+     * Adds a motor to the array list TALON_FXES to then be added to the Orchestra.
      *
      * @param motor the motor to be added to MOTORS
      */
     public static void addMotor(TalonFX motor) {
-        MOTORS.add(motor);
+        TALON_FXES.add(motor);
     }
 
     /**
-     * sets a track file to the Orchestra and assigns a track to each motor added to the Orchestra.
+     * sets a music file to the Orchestra and assigns a track to each motor added to the Orchestra.
      * if the number of motors exceeds the amount of tracks then the extra motors will be assigned used tracks.
+     * can only assign one track to each motor
      *
-     * @param trackFile the track file to be added to the Orchestra
-     * @param tracks    how many tracks should be assigned to the motors
+     * @param musicFile the music file to be added to the Orchestra
+     * @param tracks    number of tracks to be assigned to the motors
      */
-    public static void playTrack(String trackFile, int tracks) {
-        for (int i = 0; i < MOTORS.size(); i++)
-            ORCHESTRA.addInstrument(MOTORS.get(i), i % tracks + 1);
-        addTrack(trackFile);
-        playTrack();
+    public static void playTrack(String musicFile, int tracks) {
+        for (int i = 0; i < TALON_FXES.size(); i++)
+            ORCHESTRA.addInstrument(TALON_FXES.get(i), i % tracks + 1);
+        addAndPlayTrack(musicFile);
     }
 
     /**
-     * sets a track file to the Orchestra and assigns one or multiple motors in the Orchestra a single track.
-     * works with multiple tracks
+     * Sets a music file to the Orchestra and assigns one or multiple motors in the Orchestra a single track.
+     * Works with multiple tracks.
+     * can assign a single track to more than one motor.
      *
-     * @param trackFile the track file to be added to the Orchestra
+     * @param musicFile the music file to be added to the Orchestra
      * @param perTrack  how many motors should get assigned to a track
-     * @throws IllegalStateException if the amount of motors is below the amount of tracks to be assigned
      */
-    public static void playTrack(String trackFile, int... perTrack) throws IllegalStateException {
-        int total = 0,
-                index = 0;
+    public static void playTrack(String musicFile, int... perTrack) throws IllegalStateException {
+        int totalTracks = 0;
+        int motorsAssignedTracks = 0;
         for (int i = 0; i < perTrack.length; i++) {
-            total += perTrack[i];
-            if (total > MOTORS.size())
+            totalTracks += perTrack[i];
+            if (totalTracks > TALON_FXES.size())
                 throw new IllegalStateException("Not enough motors");
             for (int j = 0; j < perTrack[i]; i++)
-                ORCHESTRA.addInstrument(MOTORS.get(index++), i + 1);
+                ORCHESTRA.addInstrument(TALON_FXES.get(motorsAssignedTracks++), i + 1);
 
         }
+        addAndPlayTrack(musicFile);
+    }
 
-        addTrack(trackFile);
+    /**
+     * Adds a music file to the Orchestra and then plays it.
+     *
+     * @param musicFile the music file to be added to the Orchestra
+     */
+    public static void addAndPlayTrack(String musicFile) {
+        addTrack(musicFile);
         playTrack();
     }
 
     /**
-     * stops the Orchestra from playing and clears all the motors from it.
+     * Stops the Orchestra from playing and resets the music file to the start
+     * removes all the motors from the Orchestra.
      */
     public static void stopTrack() {
         ORCHESTRA.stop();
@@ -64,44 +73,44 @@ public static void stopTrack() {
     }
 
     /**
-     * adds a track file to the Orchestra.
-     *
-     * @param trackFile the file to be added to the Orchestra
-     */
-    public static void addTrack(String trackFile) {
-        ORCHESTRA.loadMusic(trackFile);
-    }
-
-    /**
-     * clears all the motors from the Orchestra
+     * Removes all the motors from the Orchestra meaning there is no hardware to play the music.
      */
     public static void clearAllMotors() {
         ORCHESTRA.clearInstruments();
     }
 
     /**
-     * plays the track in the Orchestra.
+     * Plays the music file in the Orchestra.
      */
     public static void playTrack() {
         ORCHESTRA.play();
     }
 
     /**
-     * pauses the track in the Orchestra.
+     * add a music file to the Orchestra.
+     *
+     * @param musicFile the music file to be added to the Orchestra
+     */
+    public static void addTrack(String musicFile) {
+        ORCHESTRA.loadMusic(musicFile);
+    }
+
+    /**
+     * Pauses the music file in the Orchestra.
      */
     public static void pauseTrack() {
         ORCHESTRA.pause();
     }
 
     /**
-     * closes the Orchestra.
+     * Closes the current Orchestra instance.
      */
     public static void closeTrack() {
         ORCHESTRA.close();
     }
 
     /**
-     * a function to determine whether the track is playing.
+     * Determines whether or not the music file is playing.
      *
      * @return if the track is playing
      */
@@ -110,9 +119,9 @@ public static boolean isTrackPlaying() {
     }
 
     /**
-     * a function to get how much time the Orchestra has been playing.
+     * Gets the current time stamp of the music file.
      *
-     * @return how long the Orchestra has been playing
+     * @return the current time stamp of the music file in seconds
      */
     public static double getCurrentTrackTime() {
         return ORCHESTRA.getCurrentTime();

From 8c7f53a5882c9b0ae9c4ab7de86720b57bb07704 Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Sun, 16 Feb 2025 14:18:32 +0200
Subject: [PATCH 07/47] rewrote java docs again

---
 .../phoenix6/talonfx/TalonFXMotor.java        |  5 +-
 .../java/org/trigon/utilities/Orchestra.java  | 91 ++++++++++---------
 2 files changed, 49 insertions(+), 47 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index f21a7bb3..f85b2895 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -32,7 +32,7 @@ public class TalonFXMotor {
      */
     public TalonFXMotor(int id, String motorName) {
         this(id, motorName, "");
-        addToOrchestra();
+        Orchestra.addMotor(motorIO.getTalonFX());
     }
 
     /**
@@ -197,9 +197,6 @@ public void setBrake(boolean brake) {
      * Adds the TalonFX to the Orchestra.
      * Orchestra plays a track of music in one or more motors.
      */
-    private void addToOrchestra() {
-        Orchestra.addMotor(motorIO.getTalonFX());
-    }
 
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
         final TalonFX talonFX = motorIO.getTalonFX();
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 206b0518..1a29f517 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -4,53 +4,59 @@
 
 import java.util.ArrayList;
 
+/**
+ * Software that plays music through motors.
+ */
 public class Orchestra {
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
-    private static final ArrayList<TalonFX> TALON_FXES = new ArrayList<>();
+    private static final ArrayList<TalonFX> INSTRUMENTS = new ArrayList<>();
 
     /**
-     * Adds a motor to the array list TALON_FXES to then be added to the Orchestra.
+     * Adds a motor to the array list INSTRUMENTS to then be added to the Orchestra.
      *
-     * @param motor the motor to be added to MOTORS
+     * @param motor the motor to be added to the Orchestra through INSTRUMENTS
      */
     public static void addMotor(TalonFX motor) {
-        TALON_FXES.add(motor);
+        INSTRUMENTS.add(motor);
     }
 
     /**
-     * sets a music file to the Orchestra and assigns a track to each motor added to the Orchestra.
-     * if the number of motors exceeds the amount of tracks then the extra motors will be assigned used tracks.
-     * can only assign one track to each motor
+     * Gives a music file to the Orchestra and assigns a track to each motor added to the Orchestra.
+     * Each track plays a different part of the music file; bass, harmonys, etc....
+     * If the number of motors exceeds the amount of total tracks then the extra motors will be assigned used tracks.
+     * The extra motors will receive the track number equivalent to by how much exceeded the total amount of tracks.
+     * Only one track can be assigned to each motor.
      *
-     * @param musicFile the music file to be added to the Orchestra
-     * @param tracks    number of tracks to be assigned to the motors
+     * @param musicFile   the music file to be added to the Orchestra
+     * @param totalTracks number of totalTracks to be assigned to the motors
      */
-    public static void playTrack(String musicFile, int tracks) {
-        for (int i = 0; i < TALON_FXES.size(); i++)
-            ORCHESTRA.addInstrument(TALON_FXES.get(i), i % tracks + 1);
-        addAndPlayTrack(musicFile);
+    public static void playTracks(String musicFile, int totalTracks) {
+        for (int i = 0; i < INSTRUMENTS.size(); i++)
+            ORCHESTRA.addInstrument(INSTRUMENTS.get(i), i % totalTracks + 1);
+        addAndPlayTracks(musicFile);
     }
 
     /**
-     * Sets a music file to the Orchestra and assigns one or multiple motors in the Orchestra a single track.
+     * Sets a music file to the Orchestra and assigns each track to one or more motors.
+     * Each track plays a different part of the music file; bass, harmonys, etc....
      * Works with multiple tracks.
-     * can assign a single track to more than one motor.
+     * Can assign a single track to more than one motor.
      *
-     * @param musicFile the music file to be added to the Orchestra
-     * @param perTrack  how many motors should get assigned to a track
+     * @param musicFile      the music file to be added to the Orchestra
+     * @param motorsPerTrack number of motors that get assigned to a track
      */
-    public static void playTrack(String musicFile, int... perTrack) throws IllegalStateException {
+    public static void playTracks(String musicFile, int... motorsPerTrack) throws IllegalStateException {
         int totalTracks = 0;
         int motorsAssignedTracks = 0;
-        for (int i = 0; i < perTrack.length; i++) {
-            totalTracks += perTrack[i];
-            if (totalTracks > TALON_FXES.size())
+        for (int i = 0; i < motorsPerTrack.length; i++) {
+            totalTracks += motorsPerTrack[i];
+            if (totalTracks > INSTRUMENTS.size())
                 throw new IllegalStateException("Not enough motors");
-            for (int j = 0; j < perTrack[i]; i++)
-                ORCHESTRA.addInstrument(TALON_FXES.get(motorsAssignedTracks++), i + 1);
+            for (int j = 0; j < motorsPerTrack[i]; i++)
+                ORCHESTRA.addInstrument(INSTRUMENTS.get(motorsAssignedTracks++), i + 1);
 
         }
-        addAndPlayTrack(musicFile);
+        addAndPlayTracks(musicFile);
     }
 
     /**
@@ -58,22 +64,21 @@ public static void playTrack(String musicFile, int... perTrack) throws IllegalSt
      *
      * @param musicFile the music file to be added to the Orchestra
      */
-    public static void addAndPlayTrack(String musicFile) {
-        addTrack(musicFile);
-        playTrack();
+    public static void addAndPlayTracks(String musicFile) {
+        addTracks(musicFile);
+        playTracks();
     }
 
     /**
-     * Stops the Orchestra from playing and resets the music file to the start
-     * removes all the motors from the Orchestra.
+     * Resets the Orchestra.
      */
-    public static void stopTrack() {
+    public static void stopTracks() {
         ORCHESTRA.stop();
         clearAllMotors();
     }
 
     /**
-     * Removes all the motors from the Orchestra meaning there is no hardware to play the music.
+     * Removes all the motors from the Orchestra and returns the status code of clearing all the motors.
      */
     public static void clearAllMotors() {
         ORCHESTRA.clearInstruments();
@@ -82,48 +87,48 @@ public static void clearAllMotors() {
     /**
      * Plays the music file in the Orchestra.
      */
-    public static void playTrack() {
+    public static void playTracks() {
         ORCHESTRA.play();
     }
 
     /**
-     * add a music file to the Orchestra.
+     * Assigns a music file to the Orchestra.
      *
      * @param musicFile the music file to be added to the Orchestra
      */
-    public static void addTrack(String musicFile) {
+    public static void addTracks(String musicFile) {
         ORCHESTRA.loadMusic(musicFile);
     }
 
     /**
-     * Pauses the music file in the Orchestra.
+     * Stops the music file in the Orchestra until resumed.
      */
-    public static void pauseTrack() {
+    public static void pauseTracks() {
         ORCHESTRA.pause();
     }
 
     /**
-     * Closes the current Orchestra instance.
+     * Stops playing the music file and resets the Orchestra.
      */
-    public static void closeTrack() {
+    public static void closeTracks() {
         ORCHESTRA.close();
     }
 
     /**
-     * Determines whether or not the music file is playing.
+     * returns whether or not the music file is playing.
      *
      * @return if the track is playing
      */
-    public static boolean isTrackPlaying() {
+    public static boolean areTracksPlaying() {
         return ORCHESTRA.isPlaying();
     }
 
     /**
-     * Gets the current time stamp of the music file.
+     * Gets the current time location of the music file.
      *
-     * @return the current time stamp of the music file in seconds
+     * @return the current time location of the music file in seconds
      */
-    public static double getCurrentTrackTime() {
+    public static double getCurrentMusicFileTimeLocation() {
         return ORCHESTRA.getCurrentTime();
     }
 }

From 567a2109f17969e27da1ed34c2a32103a531fd1c Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Tue, 18 Feb 2025 21:59:01 +0200
Subject: [PATCH 08/47] Update Orchestra.java

---
 .../java/org/trigon/utilities/Orchestra.java  | 121 +++++++-----------
 1 file changed, 49 insertions(+), 72 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 1a29f517..41a1148e 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -5,130 +5,107 @@
 import java.util.ArrayList;
 
 /**
- * Software that plays music through motors.
+ * A class that uses the {@link com.ctre.phoenix6.Orchestra} library in Phoenix 6 to play a .chrp file.
  */
 public class Orchestra {
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
-    private static final ArrayList<TalonFX> INSTRUMENTS = new ArrayList<>();
+    private static final ArrayList<TalonFX> MOTORS = new ArrayList<>();
 
     /**
-     * Adds a motor to the array list INSTRUMENTS to then be added to the Orchestra.
+     * Adds a motor to the Orchestra.
+     * The Orchestra can then play the music from those motors.
      *
-     * @param motor the motor to be added to the Orchestra through INSTRUMENTS
+     * @param motor the motor to be added to the Orchestra
      */
     public static void addMotor(TalonFX motor) {
-        INSTRUMENTS.add(motor);
+        MOTORS.add(motor);
     }
 
     /**
-     * Gives a music file to the Orchestra and assigns a track to each motor added to the Orchestra.
-     * Each track plays a different part of the music file; bass, harmonys, etc....
-     * If the number of motors exceeds the amount of total tracks then the extra motors will be assigned used tracks.
-     * The extra motors will receive the track number equivalent to by how much exceeded the total amount of tracks.
-     * Only one track can be assigned to each motor.
+     * Plays a .chrp file and assigns a track to each motor.
+     * A .chrp file stores music as tracks that can be played separately.
+     * The tracks are assigned linearly and loop back if there are extra motors.
      *
-     * @param musicFile   the music file to be added to the Orchestra
-     * @param totalTracks number of totalTracks to be assigned to the motors
+     * @param fileName    the .chrp file to be played by the Orchestra
+     * @param totalTracks the number of tracks in the .chrp file.
      */
-    public static void playTracks(String musicFile, int totalTracks) {
-        for (int i = 0; i < INSTRUMENTS.size(); i++)
-            ORCHESTRA.addInstrument(INSTRUMENTS.get(i), i % totalTracks + 1);
-        addAndPlayTracks(musicFile);
+    public static void playFile(String fileName, int totalTracks) {
+        for (int i = 0; i < MOTORS.size(); i++)
+            ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks + 1);
+        addAndPlayFile(fileName);
     }
 
     /**
-     * Sets a music file to the Orchestra and assigns each track to one or more motors.
-     * Each track plays a different part of the music file; bass, harmonys, etc....
-     * Works with multiple tracks.
-     * Can assign a single track to more than one motor.
+     * plays a .chrp file and assigns a track to each motor.
+     * A .chrp file stores music as tracks that can be played separately.
+     * The tracks are assigned by the {@code motorsPerTrack}.
+     * Each slot represents a track.
+     * Each value in the slot represents the number of motors that will be assigned that track.
      *
-     * @param musicFile      the music file to be added to the Orchestra
-     * @param motorsPerTrack number of motors that get assigned to a track
+     * @param fileName       the .chrp file to be added to the Orchestra
+     * @param motorsPerTrack number of motors that should be assigned to each track
      */
-    public static void playTracks(String musicFile, int... motorsPerTrack) throws IllegalStateException {
-        int totalTracks = 0;
+    public static void playFile(String fileName, int... motorsPerTrack) throws IllegalStateException {
+        int totalUsedMotors = 0;
         int motorsAssignedTracks = 0;
         for (int i = 0; i < motorsPerTrack.length; i++) {
-            totalTracks += motorsPerTrack[i];
-            if (totalTracks > INSTRUMENTS.size())
-                throw new IllegalStateException("Not enough motors");
+            totalUsedMotors += motorsPerTrack[i];
+            if (totalUsedMotors > MOTORS.size())
+                throw new IllegalStateException("Not enough motors added to the Orchestra.");
             for (int j = 0; j < motorsPerTrack[i]; i++)
-                ORCHESTRA.addInstrument(INSTRUMENTS.get(motorsAssignedTracks++), i + 1);
+                ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks++), i + 1);
 
         }
-        addAndPlayTracks(musicFile);
+        addAndPlayFile(fileName);
     }
 
     /**
-     * Adds a music file to the Orchestra and then plays it.
-     *
-     * @param musicFile the music file to be added to the Orchestra
-     */
-    public static void addAndPlayTracks(String musicFile) {
-        addTracks(musicFile);
-        playTracks();
-    }
-
-    /**
-     * Resets the Orchestra.
+     * Stops the music and removes all tracks assigned to motors.
      */
-    public static void stopTracks() {
+    public static void stop() {
         ORCHESTRA.stop();
-        clearAllMotors();
-    }
-
-    /**
-     * Removes all the motors from the Orchestra and returns the status code of clearing all the motors.
-     */
-    public static void clearAllMotors() {
         ORCHESTRA.clearInstruments();
     }
 
     /**
-     * Plays the music file in the Orchestra.
+     * Plays the stored .chrp file.
      */
-    public static void playTracks() {
+    public static void play() {
         ORCHESTRA.play();
     }
 
     /**
-     * Assigns a music file to the Orchestra.
-     *
-     * @param musicFile the music file to be added to the Orchestra
+     * Pauses the music.
      */
-    public static void addTracks(String musicFile) {
-        ORCHESTRA.loadMusic(musicFile);
-    }
-
-    /**
-     * Stops the music file in the Orchestra until resumed.
-     */
-    public static void pauseTracks() {
+    public static void pause() {
         ORCHESTRA.pause();
     }
 
     /**
-     * Stops playing the music file and resets the Orchestra.
+     * Returns whether the Orchestra is playing music.
+     *
+     * @return if music is playing
      */
-    public static void closeTracks() {
-        ORCHESTRA.close();
+    public static boolean isOrchestraCurrentlyPlayingMusic() {
+        return ORCHESTRA.isPlaying();
     }
 
     /**
-     * returns whether or not the music file is playing.
+     * Gets the play time of the .chrp file being played in seconds.
      *
-     * @return if the track is playing
+     * @return the play time
      */
-    public static boolean areTracksPlaying() {
-        return ORCHESTRA.isPlaying();
+    public static double getPlayTimeSeconds() {
+        return ORCHESTRA.getCurrentTime();
     }
 
     /**
-     * Gets the current time location of the music file.
+     * Adds a .chrp file to the Orchestra and plays it.
      *
-     * @return the current time location of the music file in seconds
+     * @param fileName the .chrp file to be added to the Orchestra
      */
-    public static double getCurrentMusicFileTimeLocation() {
-        return ORCHESTRA.getCurrentTime();
+    private static void addAndPlayFile(String fileName) {
+        ORCHESTRA.loadMusic(fileName);
+        play();
     }
 }

From 9ae124b84f868164b414f77dd65d6da907b4f050 Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Tue, 25 Feb 2025 11:37:38 +0200
Subject: [PATCH 09/47] fixed up java doc

---
 .../org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java  | 6 +++---
 src/main/java/org/trigon/utilities/Orchestra.java           | 1 +
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index f85b2895..b9b9e159 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -194,10 +194,10 @@ public void setBrake(boolean brake) {
     }
 
     /**
-     * Adds the TalonFX to the Orchestra.
-     * Orchestra plays a track of music in one or more motors.
+     * Allows access to the TalonFX.
+     *
+     * @param signal the TalonFX signal
      */
-
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
         final TalonFX talonFX = motorIO.getTalonFX();
         if (RobotHardwareStats.isReplay() || talonFX == null)
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 41a1148e..1426cc3c 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -32,6 +32,7 @@ public static void addMotor(TalonFX motor) {
     public static void playFile(String fileName, int totalTracks) {
         for (int i = 0; i < MOTORS.size(); i++)
             ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks + 1);
+
         addAndPlayFile(fileName);
     }
 

From 52dd81421b4fa746318bb2763d046d5b82b13805 Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Tue, 25 Feb 2025 17:15:55 +0200
Subject: [PATCH 10/47] Update Orchestra.java

---
 src/main/java/org/trigon/utilities/Orchestra.java | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 1426cc3c..5c939ecc 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -52,10 +52,9 @@ public static void playFile(String fileName, int... motorsPerTrack) throws Illeg
         for (int i = 0; i < motorsPerTrack.length; i++) {
             totalUsedMotors += motorsPerTrack[i];
             if (totalUsedMotors > MOTORS.size())
-                throw new IllegalStateException("Not enough motors added to the Orchestra.");
+                System.out.println("Not enough motors added to the Orchestra.");
             for (int j = 0; j < motorsPerTrack[i]; i++)
                 ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks++), i + 1);
-
         }
         addAndPlayFile(fileName);
     }
@@ -83,8 +82,6 @@ public static void pause() {
     }
 
     /**
-     * Returns whether the Orchestra is playing music.
-     *
      * @return if music is playing
      */
     public static boolean isOrchestraCurrentlyPlayingMusic() {

From 4488b3e29da5c101d66112cd237e2809d7420ad5 Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Sun, 2 Mar 2025 10:53:39 +0200
Subject: [PATCH 11/47] Update TalonFXMotor.java

---
 .../org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index b9b9e159..b8bf8d7b 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -192,12 +192,7 @@ public void setPosition(double positionRotations) {
     public void setBrake(boolean brake) {
         motorIO.setBrake(brake);
     }
-
-    /**
-     * Allows access to the TalonFX.
-     *
-     * @param signal the TalonFX signal
-     */
+    
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
         final TalonFX talonFX = motorIO.getTalonFX();
         if (RobotHardwareStats.isReplay() || talonFX == null)

From b01545713b52e96064e8d2c1b0d1e719f729be0c Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Tue, 4 Mar 2025 16:38:18 +0200
Subject: [PATCH 12/47] Update Orchestra.java

---
 .../java/org/trigon/utilities/Orchestra.java   | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 5c939ecc..54a7317e 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -26,14 +26,14 @@ public static void addMotor(TalonFX motor) {
      * A .chrp file stores music as tracks that can be played separately.
      * The tracks are assigned linearly and loop back if there are extra motors.
      *
-     * @param fileName    the .chrp file to be played by the Orchestra
+     * @param filePath    the path of the .chrp file to be played by the Orchestra
      * @param totalTracks the number of tracks in the .chrp file.
      */
-    public static void playFile(String fileName, int totalTracks) {
+    public static void playFile(String filePath, int totalTracks) {
         for (int i = 0; i < MOTORS.size(); i++)
             ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks + 1);
 
-        addAndPlayFile(fileName);
+        addAndPlayFile(filePath);
     }
 
     /**
@@ -43,10 +43,10 @@ public static void playFile(String fileName, int totalTracks) {
      * Each slot represents a track.
      * Each value in the slot represents the number of motors that will be assigned that track.
      *
-     * @param fileName       the .chrp file to be added to the Orchestra
+     * @param filePath       the path of the .chrp file to be added to the Orchestra
      * @param motorsPerTrack number of motors that should be assigned to each track
      */
-    public static void playFile(String fileName, int... motorsPerTrack) throws IllegalStateException {
+    public static void playFile(String filePath, int... motorsPerTrack) throws IllegalStateException {
         int totalUsedMotors = 0;
         int motorsAssignedTracks = 0;
         for (int i = 0; i < motorsPerTrack.length; i++) {
@@ -56,7 +56,7 @@ public static void playFile(String fileName, int... motorsPerTrack) throws Illeg
             for (int j = 0; j < motorsPerTrack[i]; i++)
                 ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks++), i + 1);
         }
-        addAndPlayFile(fileName);
+        addAndPlayFile(filePath);
     }
 
     /**
@@ -100,10 +100,10 @@ public static double getPlayTimeSeconds() {
     /**
      * Adds a .chrp file to the Orchestra and plays it.
      *
-     * @param fileName the .chrp file to be added to the Orchestra
+     * @param filePath the path of the .chrp file to be added to the Orchestra
      */
-    private static void addAndPlayFile(String fileName) {
-        ORCHESTRA.loadMusic(fileName);
+    private static void addAndPlayFile(String filePath) {
+        ORCHESTRA.loadMusic(filePath);
         play();
     }
 }

From ac914260a3d1a61c56bbe55fb9e7e2a4f9ed4d8d Mon Sep 17 00:00:00 2001
From: ShmayaR <shmaya.rosenblatt@gmail.com>
Date: Wed, 5 Mar 2025 23:43:20 +0200
Subject: [PATCH 13/47] shortened a java doc into one @return

---
 src/main/java/org/trigon/utilities/Orchestra.java | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 54a7317e..282e6b34 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -89,9 +89,7 @@ public static boolean isOrchestraCurrentlyPlayingMusic() {
     }
 
     /**
-     * Gets the play time of the .chrp file being played in seconds.
-     *
-     * @return the play time
+     * @return the play time of the .chrp file in seconds
      */
     public static double getPlayTimeSeconds() {
         return ORCHESTRA.getCurrentTime();

From d6da94002790d2a4d59ef72efaca1d407b281318 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 6 Mar 2025 17:28:36 +0200
Subject: [PATCH 14/47] Fix error message

---
 src/main/java/org/trigon/utilities/Orchestra.java | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 282e6b34..cf46ce61 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -51,8 +51,11 @@ public static void playFile(String filePath, int... motorsPerTrack) throws Illeg
         int motorsAssignedTracks = 0;
         for (int i = 0; i < motorsPerTrack.length; i++) {
             totalUsedMotors += motorsPerTrack[i];
-            if (totalUsedMotors > MOTORS.size())
-                System.out.println("Not enough motors added to the Orchestra.");
+            if (totalUsedMotors > MOTORS.size()) {
+                System.out.println("Orchestra: Fewer motors than requested tracks, can't play requested file.");
+                ORCHESTRA.clearInstruments();
+                return;
+            }
             for (int j = 0; j < motorsPerTrack[i]; i++)
                 ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks++), i + 1);
         }

From f621f70cf8092a0a2a138030e88a53eb266a8081 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Tue, 24 Jun 2025 22:34:08 +0300
Subject: [PATCH 15/47] No more throwing

---
 src/main/java/org/trigon/utilities/Orchestra.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index cf46ce61..c145c0d6 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -46,9 +46,10 @@ public static void playFile(String filePath, int totalTracks) {
      * @param filePath       the path of the .chrp file to be added to the Orchestra
      * @param motorsPerTrack number of motors that should be assigned to each track
      */
-    public static void playFile(String filePath, int... motorsPerTrack) throws IllegalStateException {
+    public static void playFile(String filePath, int... motorsPerTrack) {
         int totalUsedMotors = 0;
         int motorsAssignedTracks = 0;
+
         for (int i = 0; i < motorsPerTrack.length; i++) {
             totalUsedMotors += motorsPerTrack[i];
             if (totalUsedMotors > MOTORS.size()) {
@@ -85,7 +86,7 @@ public static void pause() {
     }
 
     /**
-     * @return if music is playing
+     * @return whether music is playing or not
      */
     public static boolean isOrchestraCurrentlyPlayingMusic() {
         return ORCHESTRA.isPlaying();

From 3012beba380de185bab146dcb96c5de9d138a6c6 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 3 Jul 2025 15:22:41 +0300
Subject: [PATCH 16/47] Quick fix

---
 .../phoenix6/talonfx/TalonFXMotor.java        |  5 ++--
 .../java/org/trigon/utilities/Orchestra.java  | 27 ++++++++++++++-----
 2 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index b8bf8d7b..abf9994a 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -32,7 +32,6 @@ public class TalonFXMotor {
      */
     public TalonFXMotor(int id, String motorName) {
         this(id, motorName, "");
-        Orchestra.addMotor(motorIO.getTalonFX());
     }
 
     /**
@@ -48,6 +47,8 @@ public TalonFXMotor(int id, String motorName, String canbus) {
         this.motorInputs = new Phoenix6Inputs(motorName, !canbus.isEmpty());
         this.id = id;
         motorIO.optimizeBusUsage();
+
+        Orchestra.addMotor(motorIO.getTalonFX());
     }
 
     /**
@@ -192,7 +193,7 @@ public void setPosition(double positionRotations) {
     public void setBrake(boolean brake) {
         motorIO.setBrake(brake);
     }
-    
+
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
         final TalonFX talonFX = motorIO.getTalonFX();
         if (RobotHardwareStats.isReplay() || talonFX == null)
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index c145c0d6..62985ebd 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -27,11 +27,14 @@ public static void addMotor(TalonFX motor) {
      * The tracks are assigned linearly and loop back if there are extra motors.
      *
      * @param filePath    the path of the .chrp file to be played by the Orchestra
-     * @param totalTracks the number of tracks in the .chrp file.
+     * @param totalTracks the number of tracks in the .chrp file
+     * @param skippedIDs  the IDs of motors that should not be assigned a track
      */
-    public static void playFile(String filePath, int totalTracks) {
-        for (int i = 0; i < MOTORS.size(); i++)
-            ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks + 1);
+    public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
+        for (int i = 0; i < MOTORS.size(); i++) {
+            if (!shouldSkipMotor(i, skippedIDs))
+                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks + 1);
+        }
 
         addAndPlayFile(filePath);
     }
@@ -45,8 +48,9 @@ public static void playFile(String filePath, int totalTracks) {
      *
      * @param filePath       the path of the .chrp file to be added to the Orchestra
      * @param motorsPerTrack number of motors that should be assigned to each track
+     * @param skippedIDs     the IDs of motors that should not be assigned a track
      */
-    public static void playFile(String filePath, int... motorsPerTrack) {
+    public static void playFile(String filePath, int[] motorsPerTrack, int... skippedIDs) {
         int totalUsedMotors = 0;
         int motorsAssignedTracks = 0;
 
@@ -58,7 +62,9 @@ public static void playFile(String filePath, int... motorsPerTrack) {
                 return;
             }
             for (int j = 0; j < motorsPerTrack[i]; i++)
-                ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks++), i + 1);
+                if (!shouldSkipMotor(motorsAssignedTracks, skippedIDs))
+                    ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i + 1);
+            motorsAssignedTracks++;
         }
         addAndPlayFile(filePath);
     }
@@ -108,4 +114,13 @@ private static void addAndPlayFile(String filePath) {
         ORCHESTRA.loadMusic(filePath);
         play();
     }
+
+    private static boolean shouldSkipMotor(int id, int[] skippedIDs) {
+        for (int skippedID : skippedIDs) {
+            if (id == skippedID) {
+                return true;
+            }
+        }
+        return false;
+    }
 }

From 5289a526f7962beea1bfbc3736bf511d6a9e9dbd Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 3 Jul 2025 15:33:33 +0300
Subject: [PATCH 17/47] WOW

---
 src/main/java/org/trigon/utilities/Orchestra.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 62985ebd..99d1b58e 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -61,7 +61,7 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
                 ORCHESTRA.clearInstruments();
                 return;
             }
-            for (int j = 0; j < motorsPerTrack[i]; i++)
+            for (int j = 0; j < motorsPerTrack[i]; j++)
                 if (!shouldSkipMotor(motorsAssignedTracks, skippedIDs))
                     ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i + 1);
             motorsAssignedTracks++;

From 32e3df00aeb5f3f8734d917952f8bb992eab28c0 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 3 Jul 2025 15:53:55 +0300
Subject: [PATCH 18/47] Try this

---
 src/main/java/org/trigon/utilities/Orchestra.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 99d1b58e..2f626bbd 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -32,8 +32,8 @@ public static void addMotor(TalonFX motor) {
      */
     public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
         for (int i = 0; i < MOTORS.size(); i++) {
-            if (!shouldSkipMotor(i, skippedIDs))
-                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks + 1);
+            if (!shouldSkipMotor(MOTORS.get(i).getDeviceID(), skippedIDs))
+                ORCHESTRA.addInstrument(MOTORS.get(i), (i % totalTracks) + 1);
         }
 
         addAndPlayFile(filePath);
@@ -62,7 +62,7 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
                 return;
             }
             for (int j = 0; j < motorsPerTrack[i]; j++)
-                if (!shouldSkipMotor(motorsAssignedTracks, skippedIDs))
+                if (!shouldSkipMotor(MOTORS.get(motorsAssignedTracks).getDeviceID(), skippedIDs))
                     ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i + 1);
             motorsAssignedTracks++;
         }

From 9048ec259d3d038b39156dd61cfcca6cd655ebde Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 3 Jul 2025 16:14:23 +0300
Subject: [PATCH 19/47] ok sure

---
 src/main/java/org/trigon/utilities/Orchestra.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 2f626bbd..1ab7eb61 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -33,7 +33,7 @@ public static void addMotor(TalonFX motor) {
     public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
         for (int i = 0; i < MOTORS.size(); i++) {
             if (!shouldSkipMotor(MOTORS.get(i).getDeviceID(), skippedIDs))
-                ORCHESTRA.addInstrument(MOTORS.get(i), (i % totalTracks) + 1);
+                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
 
         addAndPlayFile(filePath);
@@ -63,7 +63,7 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
             }
             for (int j = 0; j < motorsPerTrack[i]; j++)
                 if (!shouldSkipMotor(MOTORS.get(motorsAssignedTracks).getDeviceID(), skippedIDs))
-                    ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i + 1);
+                    ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i);
             motorsAssignedTracks++;
         }
         addAndPlayFile(filePath);

From cc95c54bc0a0a364ae2195a5542172eb95017d79 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 3 Jul 2025 16:25:23 +0300
Subject: [PATCH 20/47] tets

---
 src/main/java/org/trigon/utilities/Orchestra.java | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 1ab7eb61..68d40c8a 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -32,8 +32,8 @@ public static void addMotor(TalonFX motor) {
      */
     public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
         for (int i = 0; i < MOTORS.size(); i++) {
-            if (!shouldSkipMotor(MOTORS.get(i).getDeviceID(), skippedIDs))
-                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
+//            if (!shouldSkipMotor(MOTORS.get(i).getDeviceID(), skippedIDs))
+            ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
 
         addAndPlayFile(filePath);
@@ -62,8 +62,8 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
                 return;
             }
             for (int j = 0; j < motorsPerTrack[i]; j++)
-                if (!shouldSkipMotor(MOTORS.get(motorsAssignedTracks).getDeviceID(), skippedIDs))
-                    ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i);
+//                if (!shouldSkipMotor(MOTORS.get(motorsAssignedTracks).getDeviceID(), skippedIDs))
+                ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i);
             motorsAssignedTracks++;
         }
         addAndPlayFile(filePath);

From 33c5a010103385aef485a2bd70487318af28eac1 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 3 Jul 2025 16:32:10 +0300
Subject: [PATCH 21/47] NOw tis goinna work trust

---
 src/main/java/org/trigon/utilities/Orchestra.java | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 68d40c8a..e9fa5060 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -32,8 +32,8 @@ public static void addMotor(TalonFX motor) {
      */
     public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
         for (int i = 0; i < MOTORS.size(); i++) {
-//            if (!shouldSkipMotor(MOTORS.get(i).getDeviceID(), skippedIDs))
-            ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
+            if (!shouldSkipMotor(MOTORS.get(i).getDeviceID(), skippedIDs))
+                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
 
         addAndPlayFile(filePath);
@@ -61,10 +61,11 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
                 ORCHESTRA.clearInstruments();
                 return;
             }
-            for (int j = 0; j < motorsPerTrack[i]; j++)
-//                if (!shouldSkipMotor(MOTORS.get(motorsAssignedTracks).getDeviceID(), skippedIDs))
-                ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i);
-            motorsAssignedTracks++;
+            for (int j = 0; j < motorsPerTrack[i]; j++) {
+                if (!shouldSkipMotor(MOTORS.get(motorsAssignedTracks).getDeviceID(), skippedIDs))
+                    ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i);
+                motorsAssignedTracks++;
+            }
         }
         addAndPlayFile(filePath);
     }

From 52c9fe9c699961d5478fc4c319781ab253c9621a Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 3 Jul 2025 16:53:02 +0300
Subject: [PATCH 22/47] I thiikn we got it guys

---
 .../hardware/phoenix6/talonfx/TalonFXMotor.java      |  2 +-
 src/main/java/org/trigon/utilities/Orchestra.java    | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index abf9994a..fae416c6 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -48,7 +48,7 @@ public TalonFXMotor(int id, String motorName, String canbus) {
         this.id = id;
         motorIO.optimizeBusUsage();
 
-        Orchestra.addMotor(motorIO.getTalonFX());
+        Orchestra.addMotor(motorIO.getTalonFX(), id);
     }
 
     /**
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index e9fa5060..f58248eb 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -2,14 +2,14 @@
 
 import com.ctre.phoenix6.hardware.TalonFX;
 
-import java.util.ArrayList;
+import java.util.HashMap;
 
 /**
  * A class that uses the {@link com.ctre.phoenix6.Orchestra} library in Phoenix 6 to play a .chrp file.
  */
 public class Orchestra {
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
-    private static final ArrayList<TalonFX> MOTORS = new ArrayList<>();
+    private static final HashMap<Integer, TalonFX> MOTORS = new HashMap<>();
 
     /**
      * Adds a motor to the Orchestra.
@@ -17,8 +17,8 @@ public class Orchestra {
      *
      * @param motor the motor to be added to the Orchestra
      */
-    public static void addMotor(TalonFX motor) {
-        MOTORS.add(motor);
+    public static void addMotor(TalonFX motor, int id) {
+        MOTORS.put(id, motor);
     }
 
     /**
@@ -32,7 +32,7 @@ public static void addMotor(TalonFX motor) {
      */
     public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
         for (int i = 0; i < MOTORS.size(); i++) {
-            if (!shouldSkipMotor(MOTORS.get(i).getDeviceID(), skippedIDs))
+            if (!shouldSkipMotor(i, skippedIDs))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
 
@@ -62,7 +62,7 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
                 return;
             }
             for (int j = 0; j < motorsPerTrack[i]; j++) {
-                if (!shouldSkipMotor(MOTORS.get(motorsAssignedTracks).getDeviceID(), skippedIDs))
+                if (!shouldSkipMotor(motorsAssignedTracks, skippedIDs))
                     ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i);
                 motorsAssignedTracks++;
             }

From 4183fa2c994d4c596c2b6d77ae1477ebaa85302f Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sat, 5 Jul 2025 22:37:53 +0300
Subject: [PATCH 23/47] A bit of an update

---
 .../java/org/trigon/utilities/Orchestra.java  | 26 +++++++++----------
 1 file changed, 12 insertions(+), 14 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index f58248eb..e08efc88 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -51,22 +51,20 @@ public static void playFile(String filePath, int totalTracks, int... skippedIDs)
      * @param skippedIDs     the IDs of motors that should not be assigned a track
      */
     public static void playFile(String filePath, int[] motorsPerTrack, int... skippedIDs) {
-        int totalUsedMotors = 0;
-        int motorsAssignedTracks = 0;
-
-        for (int i = 0; i < motorsPerTrack.length; i++) {
-            totalUsedMotors += motorsPerTrack[i];
-            if (totalUsedMotors > MOTORS.size()) {
-                System.out.println("Orchestra: Fewer motors than requested tracks, can't play requested file.");
-                ORCHESTRA.clearInstruments();
-                return;
-            }
-            for (int j = 0; j < motorsPerTrack[i]; j++) {
-                if (!shouldSkipMotor(motorsAssignedTracks, skippedIDs))
-                    ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks), i);
-                motorsAssignedTracks++;
+        int motorIndex = 0;
+
+        for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
+            for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {
+                if (motorIndex >= MOTORS.size()) {
+                    System.out.println("Orchestra: Not enough motors");
+                    return;
+                }
+                if (!shouldSkipMotor(motorIndex, skippedIDs))
+                    ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
+                motorIndex++;
             }
         }
+
         addAndPlayFile(filePath);
     }
 

From dba95ee55b72752bb3515951ff710adba43ab3cb Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sat, 5 Jul 2025 22:48:24 +0300
Subject: [PATCH 24/47] =?UTF-8?q?ID=200=20=F0=9F=98=A2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main/java/org/trigon/utilities/Orchestra.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index e08efc88..ddb6bb59 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -31,8 +31,8 @@ public static void addMotor(TalonFX motor, int id) {
      * @param skippedIDs  the IDs of motors that should not be assigned a track
      */
     public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
-        for (int i = 0; i < MOTORS.size(); i++) {
-            if (!shouldSkipMotor(i, skippedIDs))
+        for (int i = 1; i < MOTORS.size(); i++) {
+            if (!shouldSkipMotor(i, skippedIDs) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
 
@@ -51,7 +51,7 @@ public static void playFile(String filePath, int totalTracks, int... skippedIDs)
      * @param skippedIDs     the IDs of motors that should not be assigned a track
      */
     public static void playFile(String filePath, int[] motorsPerTrack, int... skippedIDs) {
-        int motorIndex = 0;
+        int motorIndex = 1;
 
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
             for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {

From 4b50c8a715098aa8a3d4ff5cd49dedbc6acfc102 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sat, 5 Jul 2025 22:49:17 +0300
Subject: [PATCH 25/47] Oops

---
 src/main/java/org/trigon/utilities/Orchestra.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index ddb6bb59..1d5cbe90 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -59,7 +59,7 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
                     System.out.println("Orchestra: Not enough motors");
                     return;
                 }
-                if (!shouldSkipMotor(motorIndex, skippedIDs))
+                if (!shouldSkipMotor(motorIndex, skippedIDs) && MOTORS.containsKey(motorIndex))
                     ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
                 motorIndex++;
             }

From cf18c47d12d9cb1357b38d9a81e52f1db8fc690b Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sat, 5 Jul 2025 23:07:40 +0300
Subject: [PATCH 26/47] Fix

---
 src/main/java/org/trigon/utilities/Orchestra.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 1d5cbe90..9f54916d 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -31,7 +31,7 @@ public static void addMotor(TalonFX motor, int id) {
      * @param skippedIDs  the IDs of motors that should not be assigned a track
      */
     public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
-        for (int i = 1; i < MOTORS.size(); i++) {
+        for (int i = 1; i < MOTORS.size() + 1; i++) {
             if (!shouldSkipMotor(i, skippedIDs) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
@@ -55,7 +55,7 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
 
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
             for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {
-                if (motorIndex >= MOTORS.size()) {
+                if (motorIndex > MOTORS.size()) {
                     System.out.println("Orchestra: Not enough motors");
                     return;
                 }

From b8b63f6484a76e3f1a6e85c8d499163e55b08c6c Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sat, 5 Jul 2025 23:38:44 +0300
Subject: [PATCH 27/47] Test idk

---
 .../java/org/trigon/utilities/Orchestra.java  | 126 +++++++++++++++---
 1 file changed, 104 insertions(+), 22 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 9f54916d..1682a37d 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -1,13 +1,19 @@
 package org.trigon.utilities;
 
 import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.FunctionalCommand;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import java.util.HashMap;
+import java.util.function.Supplier;
 
 /**
  * A class that uses the {@link com.ctre.phoenix6.Orchestra} library in Phoenix 6 to play a .chrp file.
  */
-public class Orchestra {
+public class Orchestra extends SubsystemBase {
+    private static final Orchestra INSTANCE = new Orchestra();
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
     private static final HashMap<Integer, TalonFX> MOTORS = new HashMap<>();
 
@@ -21,6 +27,61 @@ public static void addMotor(TalonFX motor, int id) {
         MOTORS.put(id, motor);
     }
 
+    public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<Integer>... skippedIDs) {
+        return new FunctionalCommand(
+                () -> playFile(filePath, totalTracks, integerSupplierArrayToIntegerArray(skippedIDs)),
+                () -> updateMotors(totalTracks, skippedIDs),
+                (interrupted) -> stop(),
+                () -> false,
+                INSTANCE
+        );
+    }
+
+    public static Command getPlayFileCommand(String filePath, int[] motorsPerTrack, Supplier<Integer>... skippedIDs) {
+        return new FunctionalCommand(
+                () -> playFile(filePath, motorsPerTrack, integerSupplierArrayToIntegerArray(skippedIDs)),
+                () -> updateMotors(motorsPerTrack, skippedIDs),
+                (interrupted) -> stop(),
+                () -> false,
+                INSTANCE
+        );
+    }
+
+    public static Command getStopCommand() {
+        return new InstantCommand(
+                Orchestra::stop,
+                INSTANCE
+        );
+    }
+
+    public static Command getPauseCommand() {
+        return new InstantCommand(
+                Orchestra::pause,
+                INSTANCE
+        );
+    }
+
+    public static Command getPlayCommand() {
+        return new InstantCommand(
+                Orchestra::play,
+                INSTANCE
+        );
+    }
+
+    /**
+     * @return whether music is playing or not
+     */
+    public static boolean isOrchestraCurrentlyPlayingMusic() {
+        return ORCHESTRA.isPlaying();
+    }
+
+    /**
+     * @return the play time of the .chrp file in seconds
+     */
+    public static double getPlayTimeSeconds() {
+        return ORCHESTRA.getCurrentTime();
+    }
+
     /**
      * Plays a .chrp file and assigns a track to each motor.
      * A .chrp file stores music as tracks that can be played separately.
@@ -30,7 +91,7 @@ public static void addMotor(TalonFX motor, int id) {
      * @param totalTracks the number of tracks in the .chrp file
      * @param skippedIDs  the IDs of motors that should not be assigned a track
      */
-    public static void playFile(String filePath, int totalTracks, int... skippedIDs) {
+    private static void playFile(String filePath, int totalTracks, int... skippedIDs) {
         for (int i = 1; i < MOTORS.size() + 1; i++) {
             if (!shouldSkipMotor(i, skippedIDs) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
@@ -50,7 +111,7 @@ public static void playFile(String filePath, int totalTracks, int... skippedIDs)
      * @param motorsPerTrack number of motors that should be assigned to each track
      * @param skippedIDs     the IDs of motors that should not be assigned a track
      */
-    public static void playFile(String filePath, int[] motorsPerTrack, int... skippedIDs) {
+    private static void playFile(String filePath, int[] motorsPerTrack, int... skippedIDs) {
         int motorIndex = 1;
 
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
@@ -68,40 +129,53 @@ public static void playFile(String filePath, int[] motorsPerTrack, int... skippe
         addAndPlayFile(filePath);
     }
 
-    /**
-     * Stops the music and removes all tracks assigned to motors.
-     */
-    public static void stop() {
-        ORCHESTRA.stop();
+    private static void updateMotors(int totalTracks, Supplier<Integer>[] skippedIDs) {
         ORCHESTRA.clearInstruments();
+        int[] skippedIDsIntegerArray = integerSupplierArrayToIntegerArray(skippedIDs);
+
+        for (int i = 1; i < MOTORS.size() + 1; i++)
+            if (!shouldSkipMotor(i, skippedIDsIntegerArray) && MOTORS.containsKey(i))
+                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
     }
 
-    /**
-     * Plays the stored .chrp file.
-     */
-    public static void play() {
-        ORCHESTRA.play();
+    private static void updateMotors(int[] motorsPerTrack, Supplier<Integer>[] skippedIDs) {
+        ORCHESTRA.clearInstruments();
+        int[] skippedIDsIntegerArray = integerSupplierArrayToIntegerArray(skippedIDs);
+        int motorIndex = 1;
+
+        for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
+            for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {
+                if (motorIndex > MOTORS.size()) {
+                    System.out.println("Orchestra: Not enough motors");
+                    return;
+                }
+                if (!shouldSkipMotor(motorIndex, skippedIDsIntegerArray) && MOTORS.containsKey(motorIndex))
+                    ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
+                motorIndex++;
+            }
+        }
     }
 
     /**
-     * Pauses the music.
+     * Stops the music and removes all tracks assigned to motors.
      */
-    public static void pause() {
-        ORCHESTRA.pause();
+    private static void stop() {
+        ORCHESTRA.stop();
+        ORCHESTRA.clearInstruments();
     }
 
     /**
-     * @return whether music is playing or not
+     * Pauses the music.
      */
-    public static boolean isOrchestraCurrentlyPlayingMusic() {
-        return ORCHESTRA.isPlaying();
+    private static void pause() {
+        ORCHESTRA.pause();
     }
 
     /**
-     * @return the play time of the .chrp file in seconds
+     * Plays the stored .chrp file.
      */
-    public static double getPlayTimeSeconds() {
-        return ORCHESTRA.getCurrentTime();
+    private static void play() {
+        ORCHESTRA.play();
     }
 
     /**
@@ -122,4 +196,12 @@ private static boolean shouldSkipMotor(int id, int[] skippedIDs) {
         }
         return false;
     }
+
+    private static int[] integerSupplierArrayToIntegerArray(Supplier<Integer>[] supplierArray) {
+        int[] array = new int[supplierArray.length];
+        for (int i = 0; i < supplierArray.length; i++)
+            array[i] = supplierArray[i].get();
+
+        return array;
+    }
 }

From 9e42192da62130814bb5db149f13f47b0c9f53fe Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sat, 5 Jul 2025 23:46:26 +0300
Subject: [PATCH 28/47] oops

---
 .../java/org/trigon/utilities/Orchestra.java  | 50 ++++++++-----------
 1 file changed, 21 insertions(+), 29 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 1682a37d..79e804ad 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -27,45 +27,45 @@ public static void addMotor(TalonFX motor, int id) {
         MOTORS.put(id, motor);
     }
 
-    public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<Integer>... skippedIDs) {
+    public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<int[]> skippedIDs) {
         return new FunctionalCommand(
-                () -> playFile(filePath, totalTracks, integerSupplierArrayToIntegerArray(skippedIDs)),
+                () -> playFile(filePath, totalTracks, skippedIDs.get()),
                 () -> updateMotors(totalTracks, skippedIDs),
                 (interrupted) -> stop(),
                 () -> false,
                 INSTANCE
-        );
+        ).ignoringDisable(true);
     }
 
-    public static Command getPlayFileCommand(String filePath, int[] motorsPerTrack, Supplier<Integer>... skippedIDs) {
+    public static Command getPlayFileCommand(String filePath, int[] motorsPerTrack, Supplier<int[]> skippedIDs) {
         return new FunctionalCommand(
-                () -> playFile(filePath, motorsPerTrack, integerSupplierArrayToIntegerArray(skippedIDs)),
+                () -> playFile(filePath, motorsPerTrack, skippedIDs.get()),
                 () -> updateMotors(motorsPerTrack, skippedIDs),
                 (interrupted) -> stop(),
                 () -> false,
                 INSTANCE
-        );
+        ).ignoringDisable(true);
     }
 
     public static Command getStopCommand() {
         return new InstantCommand(
                 Orchestra::stop,
                 INSTANCE
-        );
+        ).ignoringDisable(true);
     }
 
     public static Command getPauseCommand() {
         return new InstantCommand(
                 Orchestra::pause,
                 INSTANCE
-        );
+        ).ignoringDisable(true);
     }
 
     public static Command getPlayCommand() {
         return new InstantCommand(
                 Orchestra::play,
                 INSTANCE
-        );
+        ).ignoringDisable(true);
     }
 
     /**
@@ -91,9 +91,9 @@ public static double getPlayTimeSeconds() {
      * @param totalTracks the number of tracks in the .chrp file
      * @param skippedIDs  the IDs of motors that should not be assigned a track
      */
-    private static void playFile(String filePath, int totalTracks, int... skippedIDs) {
+    private static void playFile(String filePath, int totalTracks, int[] skippedIDs) {
         for (int i = 1; i < MOTORS.size() + 1; i++) {
-            if (!shouldSkipMotor(i, skippedIDs) && MOTORS.containsKey(i))
+            if (shouldUseMotor(i, skippedIDs) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
 
@@ -120,7 +120,7 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
                     System.out.println("Orchestra: Not enough motors");
                     return;
                 }
-                if (!shouldSkipMotor(motorIndex, skippedIDs) && MOTORS.containsKey(motorIndex))
+                if (shouldUseMotor(motorIndex, skippedIDs) && MOTORS.containsKey(motorIndex))
                     ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
                 motorIndex++;
             }
@@ -129,18 +129,18 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
         addAndPlayFile(filePath);
     }
 
-    private static void updateMotors(int totalTracks, Supplier<Integer>[] skippedIDs) {
+    private static void updateMotors(int totalTracks, Supplier<int[]> skippedIDs) {
         ORCHESTRA.clearInstruments();
-        int[] skippedIDsIntegerArray = integerSupplierArrayToIntegerArray(skippedIDs);
+        int[] skippedIDsIntegerArray = skippedIDs.get();
 
         for (int i = 1; i < MOTORS.size() + 1; i++)
-            if (!shouldSkipMotor(i, skippedIDsIntegerArray) && MOTORS.containsKey(i))
+            if (shouldUseMotor(i, skippedIDsIntegerArray) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
     }
 
-    private static void updateMotors(int[] motorsPerTrack, Supplier<Integer>[] skippedIDs) {
+    private static void updateMotors(int[] motorsPerTrack, Supplier<int[]> skippedIDs) {
         ORCHESTRA.clearInstruments();
-        int[] skippedIDsIntegerArray = integerSupplierArrayToIntegerArray(skippedIDs);
+        int[] skippedIDsIntegerArray = skippedIDs.get();
         int motorIndex = 1;
 
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
@@ -149,7 +149,7 @@ private static void updateMotors(int[] motorsPerTrack, Supplier<Integer>[] skipp
                     System.out.println("Orchestra: Not enough motors");
                     return;
                 }
-                if (!shouldSkipMotor(motorIndex, skippedIDsIntegerArray) && MOTORS.containsKey(motorIndex))
+                if (shouldUseMotor(motorIndex, skippedIDsIntegerArray) && MOTORS.containsKey(motorIndex))
                     ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
                 motorIndex++;
             }
@@ -188,20 +188,12 @@ private static void addAndPlayFile(String filePath) {
         play();
     }
 
-    private static boolean shouldSkipMotor(int id, int[] skippedIDs) {
+    private static boolean shouldUseMotor(int id, int[] skippedIDs) {
         for (int skippedID : skippedIDs) {
             if (id == skippedID) {
-                return true;
+                return false;
             }
         }
-        return false;
-    }
-
-    private static int[] integerSupplierArrayToIntegerArray(Supplier<Integer>[] supplierArray) {
-        int[] array = new int[supplierArray.length];
-        for (int i = 0; i < supplierArray.length; i++)
-            array[i] = supplierArray[i].get();
-
-        return array;
+        return true;
     }
 }

From e5669f221e5a25473ebaac388752287164c5bcdd Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Sun, 6 Jul 2025 20:41:38 +0300
Subject: [PATCH 29/47] Optimization

---
 src/main/java/org/trigon/utilities/Orchestra.java | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 79e804ad..0087100b 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -16,6 +16,7 @@ public class Orchestra extends SubsystemBase {
     private static final Orchestra INSTANCE = new Orchestra();
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
     private static final HashMap<Integer, TalonFX> MOTORS = new HashMap<>();
+    private static int[] SKIPPED_IDS = new int[0];
 
     /**
      * Adds a motor to the Orchestra.
@@ -130,19 +131,27 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
     }
 
     private static void updateMotors(int totalTracks, Supplier<int[]> skippedIDs) {
+        if (skippedIDs.get() == SKIPPED_IDS)
+            return;
+
+        SKIPPED_IDS = skippedIDs.get();
         ORCHESTRA.clearInstruments();
-        int[] skippedIDsIntegerArray = skippedIDs.get();
 
+        int[] skippedIDsIntegerArray = skippedIDs.get();
         for (int i = 1; i < MOTORS.size() + 1; i++)
             if (shouldUseMotor(i, skippedIDsIntegerArray) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
     }
 
     private static void updateMotors(int[] motorsPerTrack, Supplier<int[]> skippedIDs) {
+        if (skippedIDs.get() == SKIPPED_IDS)
+            return;
+
+        SKIPPED_IDS = skippedIDs.get();
         ORCHESTRA.clearInstruments();
+
         int[] skippedIDsIntegerArray = skippedIDs.get();
         int motorIndex = 1;
-
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
             for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {
                 if (motorIndex > MOTORS.size()) {

From 4dccd5bdabd1bd60da469fbf2468b80cb6affe08 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Mon, 7 Jul 2025 17:25:34 +0300
Subject: [PATCH 30/47] test

---
 src/main/java/org/trigon/utilities/Orchestra.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 0087100b..1bfd67df 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -6,6 +6,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+import java.util.Arrays;
 import java.util.HashMap;
 import java.util.function.Supplier;
 
@@ -131,6 +132,7 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
     }
 
     private static void updateMotors(int totalTracks, Supplier<int[]> skippedIDs) {
+        System.out.println(Arrays.toString(skippedIDs.get()));
         if (skippedIDs.get() == SKIPPED_IDS)
             return;
 

From ed478c8e9192fff0e28fd9d8726a48a56363096e Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Mon, 7 Jul 2025 17:32:33 +0300
Subject: [PATCH 31/47] more test

---
 src/main/java/org/trigon/utilities/Orchestra.java | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 1bfd67df..845f8b04 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -32,7 +32,10 @@ public static void addMotor(TalonFX motor, int id) {
     public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<int[]> skippedIDs) {
         return new FunctionalCommand(
                 () -> playFile(filePath, totalTracks, skippedIDs.get()),
-                () -> updateMotors(totalTracks, skippedIDs),
+                () -> {
+                    updateMotors(totalTracks, skippedIDs);
+                    System.out.println(Arrays.toString(skippedIDs.get()));
+                },
                 (interrupted) -> stop(),
                 () -> false,
                 INSTANCE
@@ -132,7 +135,6 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
     }
 
     private static void updateMotors(int totalTracks, Supplier<int[]> skippedIDs) {
-        System.out.println(Arrays.toString(skippedIDs.get()));
         if (skippedIDs.get() == SKIPPED_IDS)
             return;
 

From bee510a2e81b0f38f276bb2c518bb62b14777b1e Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 18:12:59 +0300
Subject: [PATCH 32/47] Smth idek

---
 .../java/org/trigon/utilities/Orchestra.java  | 21 ++++++++-----------
 1 file changed, 9 insertions(+), 12 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 845f8b04..b585a2f6 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -32,10 +32,7 @@ public static void addMotor(TalonFX motor, int id) {
     public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<int[]> skippedIDs) {
         return new FunctionalCommand(
                 () -> playFile(filePath, totalTracks, skippedIDs.get()),
-                () -> {
-                    updateMotors(totalTracks, skippedIDs);
-                    System.out.println(Arrays.toString(skippedIDs.get()));
-                },
+                () -> updateMotors(totalTracks, skippedIDs),
                 (interrupted) -> stop(),
                 () -> false,
                 INSTANCE
@@ -135,26 +132,26 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
     }
 
     private static void updateMotors(int totalTracks, Supplier<int[]> skippedIDs) {
-        if (skippedIDs.get() == SKIPPED_IDS)
+        int[] currentSkippedIDs = skippedIDs.get();
+        if (Arrays.equals(currentSkippedIDs, SKIPPED_IDS))
             return;
 
-        SKIPPED_IDS = skippedIDs.get();
+        SKIPPED_IDS = currentSkippedIDs;
         ORCHESTRA.clearInstruments();
 
-        int[] skippedIDsIntegerArray = skippedIDs.get();
         for (int i = 1; i < MOTORS.size() + 1; i++)
-            if (shouldUseMotor(i, skippedIDsIntegerArray) && MOTORS.containsKey(i))
+            if (shouldUseMotor(i, SKIPPED_IDS) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
     }
 
     private static void updateMotors(int[] motorsPerTrack, Supplier<int[]> skippedIDs) {
-        if (skippedIDs.get() == SKIPPED_IDS)
+        int[] currentSkippedIDs = skippedIDs.get();
+        if (Arrays.equals(currentSkippedIDs, SKIPPED_IDS))
             return;
 
-        SKIPPED_IDS = skippedIDs.get();
+        SKIPPED_IDS = currentSkippedIDs;
         ORCHESTRA.clearInstruments();
 
-        int[] skippedIDsIntegerArray = skippedIDs.get();
         int motorIndex = 1;
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
             for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {
@@ -162,7 +159,7 @@ private static void updateMotors(int[] motorsPerTrack, Supplier<int[]> skippedID
                     System.out.println("Orchestra: Not enough motors");
                     return;
                 }
-                if (shouldUseMotor(motorIndex, skippedIDsIntegerArray) && MOTORS.containsKey(motorIndex))
+                if (shouldUseMotor(motorIndex, SKIPPED_IDS) && MOTORS.containsKey(motorIndex))
                     ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
                 motorIndex++;
             }

From 4091b2ca1190248090b2e67b56b40793fff84a84 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 18:13:32 +0300
Subject: [PATCH 33/47] For testing purposes

---
 src/main/java/org/trigon/utilities/Orchestra.java | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index b585a2f6..78eb938e 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -32,7 +32,10 @@ public static void addMotor(TalonFX motor, int id) {
     public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<int[]> skippedIDs) {
         return new FunctionalCommand(
                 () -> playFile(filePath, totalTracks, skippedIDs.get()),
-                () -> updateMotors(totalTracks, skippedIDs),
+                () -> {
+                    updateMotors(totalTracks, skippedIDs);
+                    System.out.println(Arrays.toString(skippedIDs.get()));
+                },
                 (interrupted) -> stop(),
                 () -> false,
                 INSTANCE

From 5ab23723a42cea122ad092828c5a057806b445ea Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 18:22:26 +0300
Subject: [PATCH 34/47] test

---
 src/main/java/org/trigon/utilities/Orchestra.java | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 78eb938e..471da06d 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -31,12 +31,18 @@ public static void addMotor(TalonFX motor, int id) {
 
     public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<int[]> skippedIDs) {
         return new FunctionalCommand(
-                () -> playFile(filePath, totalTracks, skippedIDs.get()),
+                () -> {
+                    playFile(filePath, totalTracks, skippedIDs.get());
+                    System.out.println("init" + Arrays.toString(skippedIDs.get()));
+                },
                 () -> {
                     updateMotors(totalTracks, skippedIDs);
                     System.out.println(Arrays.toString(skippedIDs.get()));
                 },
-                (interrupted) -> stop(),
+                (interrupted) -> {
+                    stop();
+                    System.out.println("ended");
+                },
                 () -> false,
                 INSTANCE
         ).ignoringDisable(true);

From 533042a3ee6ca2645fc73f832fe66849ec6b76ba Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 18:32:48 +0300
Subject: [PATCH 35/47] wowow

---
 .../java/org/trigon/utilities/Orchestra.java  | 20 +++++++------------
 1 file changed, 7 insertions(+), 13 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 471da06d..b3a19f9a 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -8,7 +8,7 @@
 
 import java.util.Arrays;
 import java.util.HashMap;
-import java.util.function.Supplier;
+import java.util.concurrent.atomic.AtomicReference;
 
 /**
  * A class that uses the {@link com.ctre.phoenix6.Orchestra} library in Phoenix 6 to play a .chrp file.
@@ -29,26 +29,20 @@ public static void addMotor(TalonFX motor, int id) {
         MOTORS.put(id, motor);
     }
 
-    public static Command getPlayFileCommand(String filePath, int totalTracks, Supplier<int[]> skippedIDs) {
+    public static Command getPlayFileCommand(String filePath, int totalTracks, AtomicReference<int[]> skippedIDs) {
         return new FunctionalCommand(
-                () -> {
-                    playFile(filePath, totalTracks, skippedIDs.get());
-                    System.out.println("init" + Arrays.toString(skippedIDs.get()));
-                },
+                () -> playFile(filePath, totalTracks, skippedIDs.get()),
                 () -> {
                     updateMotors(totalTracks, skippedIDs);
                     System.out.println(Arrays.toString(skippedIDs.get()));
                 },
-                (interrupted) -> {
-                    stop();
-                    System.out.println("ended");
-                },
+                (interrupted) -> stop(),
                 () -> false,
                 INSTANCE
         ).ignoringDisable(true);
     }
 
-    public static Command getPlayFileCommand(String filePath, int[] motorsPerTrack, Supplier<int[]> skippedIDs) {
+    public static Command getPlayFileCommand(String filePath, int[] motorsPerTrack, AtomicReference<int[]> skippedIDs) {
         return new FunctionalCommand(
                 () -> playFile(filePath, motorsPerTrack, skippedIDs.get()),
                 () -> updateMotors(motorsPerTrack, skippedIDs),
@@ -140,7 +134,7 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
         addAndPlayFile(filePath);
     }
 
-    private static void updateMotors(int totalTracks, Supplier<int[]> skippedIDs) {
+    private static void updateMotors(int totalTracks, AtomicReference<int[]> skippedIDs) {
         int[] currentSkippedIDs = skippedIDs.get();
         if (Arrays.equals(currentSkippedIDs, SKIPPED_IDS))
             return;
@@ -153,7 +147,7 @@ private static void updateMotors(int totalTracks, Supplier<int[]> skippedIDs) {
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
     }
 
-    private static void updateMotors(int[] motorsPerTrack, Supplier<int[]> skippedIDs) {
+    private static void updateMotors(int[] motorsPerTrack, AtomicReference<int[]> skippedIDs) {
         int[] currentSkippedIDs = skippedIDs.get();
         if (Arrays.equals(currentSkippedIDs, SKIPPED_IDS))
             return;

From 4a2c57240f58fe6d0d94e01bdd0ae85f0c5c9199 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 19:20:08 +0300
Subject: [PATCH 36/47] ArrayList is goated

---
 .../java/org/trigon/utilities/Orchestra.java  | 77 +++++++++++--------
 1 file changed, 44 insertions(+), 33 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index b3a19f9a..5668d267 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -6,6 +6,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
 import java.util.concurrent.atomic.AtomicReference;
@@ -17,7 +18,8 @@ public class Orchestra extends SubsystemBase {
     private static final Orchestra INSTANCE = new Orchestra();
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
     private static final HashMap<Integer, TalonFX> MOTORS = new HashMap<>();
-    private static int[] SKIPPED_IDS = new int[0];
+    private static final AtomicReference<ArrayList<Integer>> SKIPPED_IDS = new AtomicReference<>(new ArrayList<>());
+    private static ArrayList<Integer> LAST_SKIPPED_IDS = new ArrayList<>();
 
     /**
      * Adds a motor to the Orchestra.
@@ -29,23 +31,20 @@ public static void addMotor(TalonFX motor, int id) {
         MOTORS.put(id, motor);
     }
 
-    public static Command getPlayFileCommand(String filePath, int totalTracks, AtomicReference<int[]> skippedIDs) {
+    public static Command getPlayFileCommand(String filePath, int totalTracks) {
         return new FunctionalCommand(
-                () -> playFile(filePath, totalTracks, skippedIDs.get()),
-                () -> {
-                    updateMotors(totalTracks, skippedIDs);
-                    System.out.println(Arrays.toString(skippedIDs.get()));
-                },
+                () -> playFile(filePath, totalTracks),
+                () -> updateMotors(totalTracks),
                 (interrupted) -> stop(),
                 () -> false,
                 INSTANCE
         ).ignoringDisable(true);
     }
 
-    public static Command getPlayFileCommand(String filePath, int[] motorsPerTrack, AtomicReference<int[]> skippedIDs) {
+    public static Command getPlayFileCommand(String filePath, int[] motorsPerTrack) {
         return new FunctionalCommand(
-                () -> playFile(filePath, motorsPerTrack, skippedIDs.get()),
-                () -> updateMotors(motorsPerTrack, skippedIDs),
+                () -> playFile(filePath, motorsPerTrack),
+                () -> updateMotors(motorsPerTrack),
                 (interrupted) -> stop(),
                 () -> false,
                 INSTANCE
@@ -87,6 +86,24 @@ public static double getPlayTimeSeconds() {
         return ORCHESTRA.getCurrentTime();
     }
 
+    public static void addSkippedIDs(Integer... newIDs) {
+        ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
+        currentIDs.addAll(Arrays.asList(newIDs));
+
+        SKIPPED_IDS.set(currentIDs);
+    }
+
+    public static void removeSkippedIDs(Integer... idsToRemove) {
+        ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
+        currentIDs.removeAll(Arrays.asList(idsToRemove));
+
+        SKIPPED_IDS.set(currentIDs);
+    }
+
+    public static void clearSkippedIDs() {
+        SKIPPED_IDS.set(new ArrayList<>());
+    }
+
     /**
      * Plays a .chrp file and assigns a track to each motor.
      * A .chrp file stores music as tracks that can be played separately.
@@ -94,11 +111,10 @@ public static double getPlayTimeSeconds() {
      *
      * @param filePath    the path of the .chrp file to be played by the Orchestra
      * @param totalTracks the number of tracks in the .chrp file
-     * @param skippedIDs  the IDs of motors that should not be assigned a track
      */
-    private static void playFile(String filePath, int totalTracks, int[] skippedIDs) {
+    private static void playFile(String filePath, int totalTracks) {
         for (int i = 1; i < MOTORS.size() + 1; i++) {
-            if (shouldUseMotor(i, skippedIDs) && MOTORS.containsKey(i))
+            if (shouldUseMotor(i) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
         }
 
@@ -114,9 +130,8 @@ private static void playFile(String filePath, int totalTracks, int[] skippedIDs)
      *
      * @param filePath       the path of the .chrp file to be added to the Orchestra
      * @param motorsPerTrack number of motors that should be assigned to each track
-     * @param skippedIDs     the IDs of motors that should not be assigned a track
      */
-    private static void playFile(String filePath, int[] motorsPerTrack, int... skippedIDs) {
+    private static void playFile(String filePath, int[] motorsPerTrack) {
         int motorIndex = 1;
 
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
@@ -125,7 +140,7 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
                     System.out.println("Orchestra: Not enough motors");
                     return;
                 }
-                if (shouldUseMotor(motorIndex, skippedIDs) && MOTORS.containsKey(motorIndex))
+                if (shouldUseMotor(motorIndex) && MOTORS.containsKey(motorIndex))
                     ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
                 motorIndex++;
             }
@@ -134,25 +149,24 @@ private static void playFile(String filePath, int[] motorsPerTrack, int... skipp
         addAndPlayFile(filePath);
     }
 
-    private static void updateMotors(int totalTracks, AtomicReference<int[]> skippedIDs) {
-        int[] currentSkippedIDs = skippedIDs.get();
-        if (Arrays.equals(currentSkippedIDs, SKIPPED_IDS))
+    private static void updateMotors(int totalTracks) {
+        ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
+        if (currentSkippedIDs.equals(LAST_SKIPPED_IDS))
             return;
 
-        SKIPPED_IDS = currentSkippedIDs;
+        LAST_SKIPPED_IDS = currentSkippedIDs;
         ORCHESTRA.clearInstruments();
 
         for (int i = 1; i < MOTORS.size() + 1; i++)
-            if (shouldUseMotor(i, SKIPPED_IDS) && MOTORS.containsKey(i))
+            if (shouldUseMotor(i) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
     }
 
-    private static void updateMotors(int[] motorsPerTrack, AtomicReference<int[]> skippedIDs) {
-        int[] currentSkippedIDs = skippedIDs.get();
-        if (Arrays.equals(currentSkippedIDs, SKIPPED_IDS))
+    private static void updateMotors(int[] motorsPerTrack) {
+        ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
+        if (currentSkippedIDs.equals(LAST_SKIPPED_IDS))
             return;
 
-        SKIPPED_IDS = currentSkippedIDs;
         ORCHESTRA.clearInstruments();
 
         int motorIndex = 1;
@@ -162,11 +176,13 @@ private static void updateMotors(int[] motorsPerTrack, AtomicReference<int[]> sk
                     System.out.println("Orchestra: Not enough motors");
                     return;
                 }
-                if (shouldUseMotor(motorIndex, SKIPPED_IDS) && MOTORS.containsKey(motorIndex))
+                if (shouldUseMotor(motorIndex) && MOTORS.containsKey(motorIndex))
                     ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
                 motorIndex++;
             }
         }
+
+        LAST_SKIPPED_IDS = currentSkippedIDs;
     }
 
     /**
@@ -201,12 +217,7 @@ private static void addAndPlayFile(String filePath) {
         play();
     }
 
-    private static boolean shouldUseMotor(int id, int[] skippedIDs) {
-        for (int skippedID : skippedIDs) {
-            if (id == skippedID) {
-                return false;
-            }
-        }
-        return true;
+    private static boolean shouldUseMotor(int id) {
+        return !SKIPPED_IDS.get().contains(id);
     }
 }

From 58286318163552d2e2fec5bb8b0c9eafea7a72fb Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 19:28:17 +0300
Subject: [PATCH 37/47] ?

---
 src/main/java/org/trigon/utilities/Orchestra.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 5668d267..a4f20b8a 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -95,7 +95,8 @@ public static void addSkippedIDs(Integer... newIDs) {
 
     public static void removeSkippedIDs(Integer... idsToRemove) {
         ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
-        currentIDs.removeAll(Arrays.asList(idsToRemove));
+        for (Integer id : idsToRemove)
+            currentIDs.remove(id);
 
         SKIPPED_IDS.set(currentIDs);
     }

From 06bd78db91d19aabe67337a34a187ce5912d949c Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 19:32:24 +0300
Subject: [PATCH 38/47] Ughhhhh

---
 src/main/java/org/trigon/utilities/Orchestra.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index a4f20b8a..a1376dbb 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -95,8 +95,7 @@ public static void addSkippedIDs(Integer... newIDs) {
 
     public static void removeSkippedIDs(Integer... idsToRemove) {
         ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
-        for (Integer id : idsToRemove)
-            currentIDs.remove(id);
+        currentIDs.removeAll(Arrays.asList(idsToRemove));
 
         SKIPPED_IDS.set(currentIDs);
     }
@@ -151,6 +150,7 @@ private static void playFile(String filePath, int[] motorsPerTrack) {
     }
 
     private static void updateMotors(int totalTracks) {
+        System.out.println(SKIPPED_IDS.get());
         ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
         if (currentSkippedIDs.equals(LAST_SKIPPED_IDS))
             return;

From 8ce853fb8c01d98e3b4aa04b872b3e62f6fa0ecf Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 19:38:37 +0300
Subject: [PATCH 39/47] O

---
 src/main/java/org/trigon/utilities/Orchestra.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index a1376dbb..813850f5 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -155,12 +155,13 @@ private static void updateMotors(int totalTracks) {
         if (currentSkippedIDs.equals(LAST_SKIPPED_IDS))
             return;
 
-        LAST_SKIPPED_IDS = currentSkippedIDs;
         ORCHESTRA.clearInstruments();
 
         for (int i = 1; i < MOTORS.size() + 1; i++)
             if (shouldUseMotor(i) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
+
+        LAST_SKIPPED_IDS = currentSkippedIDs;
     }
 
     private static void updateMotors(int[] motorsPerTrack) {
@@ -218,7 +219,7 @@ private static void addAndPlayFile(String filePath) {
         play();
     }
 
-    private static boolean shouldUseMotor(int id) {
+    private static boolean shouldUseMotor(Integer id) {
         return !SKIPPED_IDS.get().contains(id);
     }
 }

From f4753824208ac0864de0547aa1b2b57d2263bc69 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 19:46:32 +0300
Subject: [PATCH 40/47] WTHELLYYYYYYYYYYYYY

---
 src/main/java/org/trigon/utilities/Orchestra.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 813850f5..89ac5d6b 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -158,7 +158,7 @@ private static void updateMotors(int totalTracks) {
         ORCHESTRA.clearInstruments();
 
         for (int i = 1; i < MOTORS.size() + 1; i++)
-            if (shouldUseMotor(i) && MOTORS.containsKey(i))
+            if (!currentSkippedIDs.contains(i) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
 
         LAST_SKIPPED_IDS = currentSkippedIDs;

From 0da6572a4c062bea0677fcb8ee8bf0db3560d6e5 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 19:50:30 +0300
Subject: [PATCH 41/47] whatttttttttttt

---
 src/main/java/org/trigon/utilities/Orchestra.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 89ac5d6b..647780be 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -150,12 +150,12 @@ private static void playFile(String filePath, int[] motorsPerTrack) {
     }
 
     private static void updateMotors(int totalTracks) {
-        System.out.println(SKIPPED_IDS.get());
         ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
         if (currentSkippedIDs.equals(LAST_SKIPPED_IDS))
             return;
 
         ORCHESTRA.clearInstruments();
+        System.out.println(currentSkippedIDs.contains(1));
 
         for (int i = 1; i < MOTORS.size() + 1; i++)
             if (!currentSkippedIDs.contains(i) && MOTORS.containsKey(i))

From b0e0a2ca9b26e6867449c8bfcb28fed8f7baad48 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 19:59:46 +0300
Subject: [PATCH 42/47] JIOHSEF"DS

---
 src/main/java/org/trigon/utilities/Orchestra.java | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 647780be..94a2df60 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -151,14 +151,13 @@ private static void playFile(String filePath, int[] motorsPerTrack) {
 
     private static void updateMotors(int totalTracks) {
         ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
-        if (currentSkippedIDs.equals(LAST_SKIPPED_IDS))
+        if (currentSkippedIDs == LAST_SKIPPED_IDS)
             return;
 
         ORCHESTRA.clearInstruments();
-        System.out.println(currentSkippedIDs.contains(1));
 
         for (int i = 1; i < MOTORS.size() + 1; i++)
-            if (!currentSkippedIDs.contains(i) && MOTORS.containsKey(i))
+            if (shouldUseMotor(i) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
 
         LAST_SKIPPED_IDS = currentSkippedIDs;
@@ -166,7 +165,7 @@ private static void updateMotors(int totalTracks) {
 
     private static void updateMotors(int[] motorsPerTrack) {
         ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
-        if (currentSkippedIDs.equals(LAST_SKIPPED_IDS))
+        if (currentSkippedIDs == LAST_SKIPPED_IDS)
             return;
 
         ORCHESTRA.clearInstruments();

From ee67c54106fd201eb345724cec77b7215e50c0b2 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 20:14:57 +0300
Subject: [PATCH 43/47] test ig

---
 src/main/java/org/trigon/utilities/Orchestra.java | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 94a2df60..06697d08 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -151,7 +151,8 @@ private static void playFile(String filePath, int[] motorsPerTrack) {
 
     private static void updateMotors(int totalTracks) {
         ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
-        if (currentSkippedIDs == LAST_SKIPPED_IDS)
+        System.out.println(currentSkippedIDs + " " + LAST_SKIPPED_IDS);
+        if (currentSkippedIDs.size() == LAST_SKIPPED_IDS.size())
             return;
 
         ORCHESTRA.clearInstruments();
@@ -165,7 +166,7 @@ private static void updateMotors(int totalTracks) {
 
     private static void updateMotors(int[] motorsPerTrack) {
         ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
-        if (currentSkippedIDs == LAST_SKIPPED_IDS)
+        if (currentSkippedIDs.size() == LAST_SKIPPED_IDS.size())
             return;
 
         ORCHESTRA.clearInstruments();

From c4a0c2f90f1edc90a39d1e032e291b8cbab75104 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 20:27:35 +0300
Subject: [PATCH 44/47] Fine

---
 .../java/org/trigon/utilities/Orchestra.java   | 18 ++++++++----------
 1 file changed, 8 insertions(+), 10 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 06697d08..a83fe4ee 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -19,7 +19,7 @@ public class Orchestra extends SubsystemBase {
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
     private static final HashMap<Integer, TalonFX> MOTORS = new HashMap<>();
     private static final AtomicReference<ArrayList<Integer>> SKIPPED_IDS = new AtomicReference<>(new ArrayList<>());
-    private static ArrayList<Integer> LAST_SKIPPED_IDS = new ArrayList<>();
+    private static boolean SHOULD_UPDATE_SKIPPED_MOTORS = false;
 
     /**
      * Adds a motor to the Orchestra.
@@ -91,6 +91,7 @@ public static void addSkippedIDs(Integer... newIDs) {
         currentIDs.addAll(Arrays.asList(newIDs));
 
         SKIPPED_IDS.set(currentIDs);
+        SHOULD_UPDATE_SKIPPED_MOTORS = true;
     }
 
     public static void removeSkippedIDs(Integer... idsToRemove) {
@@ -98,10 +99,12 @@ public static void removeSkippedIDs(Integer... idsToRemove) {
         currentIDs.removeAll(Arrays.asList(idsToRemove));
 
         SKIPPED_IDS.set(currentIDs);
+        SHOULD_UPDATE_SKIPPED_MOTORS = true;
     }
 
     public static void clearSkippedIDs() {
         SKIPPED_IDS.set(new ArrayList<>());
+        SHOULD_UPDATE_SKIPPED_MOTORS = true;
     }
 
     /**
@@ -150,25 +153,20 @@ private static void playFile(String filePath, int[] motorsPerTrack) {
     }
 
     private static void updateMotors(int totalTracks) {
-        ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
-        System.out.println(currentSkippedIDs + " " + LAST_SKIPPED_IDS);
-        if (currentSkippedIDs.size() == LAST_SKIPPED_IDS.size())
+        if (!SHOULD_UPDATE_SKIPPED_MOTORS)
             return;
-
         ORCHESTRA.clearInstruments();
 
         for (int i = 1; i < MOTORS.size() + 1; i++)
             if (shouldUseMotor(i) && MOTORS.containsKey(i))
                 ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
 
-        LAST_SKIPPED_IDS = currentSkippedIDs;
+        SHOULD_UPDATE_SKIPPED_MOTORS = false;
     }
 
     private static void updateMotors(int[] motorsPerTrack) {
-        ArrayList<Integer> currentSkippedIDs = SKIPPED_IDS.get();
-        if (currentSkippedIDs.size() == LAST_SKIPPED_IDS.size())
+        if (!SHOULD_UPDATE_SKIPPED_MOTORS)
             return;
-
         ORCHESTRA.clearInstruments();
 
         int motorIndex = 1;
@@ -184,7 +182,7 @@ private static void updateMotors(int[] motorsPerTrack) {
             }
         }
 
-        LAST_SKIPPED_IDS = currentSkippedIDs;
+        SHOULD_UPDATE_SKIPPED_MOTORS = false;
     }
 
     /**

From cead20d3e45462d20c1a47bf303f4af0707d9e6d Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Wed, 16 Jul 2025 20:40:05 +0300
Subject: [PATCH 45/47] Simplify

---
 .../java/org/trigon/utilities/Orchestra.java  | 76 +++++++++++--------
 1 file changed, 43 insertions(+), 33 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index a83fe4ee..96c78573 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -73,37 +73,57 @@ public static Command getPlayCommand() {
     }
 
     /**
-     * @return whether music is playing or not
+     * @return whether orchestra is currently playing a file
      */
-    public static boolean isOrchestraCurrentlyPlayingMusic() {
+    public static boolean isOrchestraCurrentlyPlaying() {
         return ORCHESTRA.isPlaying();
     }
 
     /**
-     * @return the play time of the .chrp file in seconds
+     * @return the play time of the current file in seconds
      */
     public static double getPlayTimeSeconds() {
         return ORCHESTRA.getCurrentTime();
     }
 
+    /**
+     * Adds IDs of motors that should be skipped when playing a file.
+     *
+     * @param newIDs the IDs of motors that should be skipped
+     */
     public static void addSkippedIDs(Integer... newIDs) {
         ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
         currentIDs.addAll(Arrays.asList(newIDs));
 
-        SKIPPED_IDS.set(currentIDs);
-        SHOULD_UPDATE_SKIPPED_MOTORS = true;
+        setSkippedIDs(currentIDs);
     }
 
+    /**
+     * Removes IDs of motors that should no longer be skipped when playing a file.
+     *
+     * @param idsToRemove the IDs of motors that should no longer be skipped
+     */
     public static void removeSkippedIDs(Integer... idsToRemove) {
         ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
         currentIDs.removeAll(Arrays.asList(idsToRemove));
 
-        SKIPPED_IDS.set(currentIDs);
-        SHOULD_UPDATE_SKIPPED_MOTORS = true;
+        setSkippedIDs(currentIDs);
     }
 
+    /**
+     * Clears all skipped motor IDs.
+     */
     public static void clearSkippedIDs() {
-        SKIPPED_IDS.set(new ArrayList<>());
+        setSkippedIDs(new ArrayList<>());
+    }
+
+    /**
+     * Sets the skipped motor IDs to a specific list.
+     *
+     * @param skippedIDs the list of motor IDs to be skipped
+     */
+    public static void setSkippedIDs(ArrayList<Integer> skippedIDs) {
+        SKIPPED_IDS.set(skippedIDs);
         SHOULD_UPDATE_SKIPPED_MOTORS = true;
     }
 
@@ -116,11 +136,7 @@ public static void clearSkippedIDs() {
      * @param totalTracks the number of tracks in the .chrp file
      */
     private static void playFile(String filePath, int totalTracks) {
-        for (int i = 1; i < MOTORS.size() + 1; i++) {
-            if (shouldUseMotor(i) && MOTORS.containsKey(i))
-                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
-        }
-
+        applyTracks(totalTracks);
         addAndPlayFile(filePath);
     }
 
@@ -135,20 +151,7 @@ private static void playFile(String filePath, int totalTracks) {
      * @param motorsPerTrack number of motors that should be assigned to each track
      */
     private static void playFile(String filePath, int[] motorsPerTrack) {
-        int motorIndex = 1;
-
-        for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
-            for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {
-                if (motorIndex > MOTORS.size()) {
-                    System.out.println("Orchestra: Not enough motors");
-                    return;
-                }
-                if (shouldUseMotor(motorIndex) && MOTORS.containsKey(motorIndex))
-                    ORCHESTRA.addInstrument(MOTORS.get(motorIndex), trackIndex);
-                motorIndex++;
-            }
-        }
-
+        applyTracks(motorsPerTrack);
         addAndPlayFile(filePath);
     }
 
@@ -157,10 +160,7 @@ private static void updateMotors(int totalTracks) {
             return;
         ORCHESTRA.clearInstruments();
 
-        for (int i = 1; i < MOTORS.size() + 1; i++)
-            if (shouldUseMotor(i) && MOTORS.containsKey(i))
-                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
-
+        applyTracks(totalTracks);
         SHOULD_UPDATE_SKIPPED_MOTORS = false;
     }
 
@@ -169,7 +169,19 @@ private static void updateMotors(int[] motorsPerTrack) {
             return;
         ORCHESTRA.clearInstruments();
 
+        applyTracks(motorsPerTrack);
+        SHOULD_UPDATE_SKIPPED_MOTORS = false;
+    }
+
+    private static void applyTracks(int totalTracks) {
+        for (int i = 1; i < MOTORS.size() + 1; i++)
+            if (shouldUseMotor(i) && MOTORS.containsKey(i))
+                ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks);
+    }
+
+    private static void applyTracks(int[] motorsPerTrack) {
         int motorIndex = 1;
+
         for (int trackIndex = 0; trackIndex < motorsPerTrack.length; trackIndex++) {
             for (int motorsInCurrentTrack = 0; motorsInCurrentTrack < motorsPerTrack[trackIndex]; motorsInCurrentTrack++) {
                 if (motorIndex > MOTORS.size()) {
@@ -181,8 +193,6 @@ private static void updateMotors(int[] motorsPerTrack) {
                 motorIndex++;
             }
         }
-
-        SHOULD_UPDATE_SKIPPED_MOTORS = false;
     }
 
     /**

From 609f6457abe3c4541a5ab754c2aa0a3f2e921a1b Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 17 Jul 2025 23:53:21 +0300
Subject: [PATCH 46/47] Small improvement

---
 src/main/java/org/trigon/utilities/Orchestra.java | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index 96c78573..af8721be 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -93,8 +93,10 @@ public static double getPlayTimeSeconds() {
      */
     public static void addSkippedIDs(Integer... newIDs) {
         ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
-        currentIDs.addAll(Arrays.asList(newIDs));
+        if (currentIDs.containsAll(Arrays.asList(newIDs)))
+            return;
 
+        currentIDs.addAll(Arrays.asList(newIDs));
         setSkippedIDs(currentIDs);
     }
 
@@ -105,8 +107,10 @@ public static void addSkippedIDs(Integer... newIDs) {
      */
     public static void removeSkippedIDs(Integer... idsToRemove) {
         ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
-        currentIDs.removeAll(Arrays.asList(idsToRemove));
+        if (!currentIDs.containsAll(Arrays.asList(idsToRemove)))
+            return;
 
+        currentIDs.removeAll(Arrays.asList(idsToRemove));
         setSkippedIDs(currentIDs);
     }
 

From f0f5c876d785d87880804dbec46198a092bed458 Mon Sep 17 00:00:00 2001
From: Strflightmight09 <148347057+Strflightmight09@users.noreply.github.com>
Date: Thu, 7 Aug 2025 20:54:00 +0300
Subject: [PATCH 47/47] Replay protection and used IDs instead of skipped

---
 .../phoenix6/talonfx/TalonFXMotor.java        |  3 +-
 .../java/org/trigon/utilities/Orchestra.java  | 57 +++++++++----------
 2 files changed, 29 insertions(+), 31 deletions(-)

diff --git a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
index fae416c6..9c9d3afc 100644
--- a/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
+++ b/src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java
@@ -48,7 +48,8 @@ public TalonFXMotor(int id, String motorName, String canbus) {
         this.id = id;
         motorIO.optimizeBusUsage();
 
-        Orchestra.addMotor(motorIO.getTalonFX(), id);
+        if (!RobotHardwareStats.isReplay())
+            Orchestra.addMotor(motorIO.getTalonFX(), id);
     }
 
     /**
diff --git a/src/main/java/org/trigon/utilities/Orchestra.java b/src/main/java/org/trigon/utilities/Orchestra.java
index af8721be..cb29dca4 100644
--- a/src/main/java/org/trigon/utilities/Orchestra.java
+++ b/src/main/java/org/trigon/utilities/Orchestra.java
@@ -9,7 +9,6 @@
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
-import java.util.concurrent.atomic.AtomicReference;
 
 /**
  * A class that uses the {@link com.ctre.phoenix6.Orchestra} library in Phoenix 6 to play a .chrp file.
@@ -18,8 +17,8 @@ public class Orchestra extends SubsystemBase {
     private static final Orchestra INSTANCE = new Orchestra();
     private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
     private static final HashMap<Integer, TalonFX> MOTORS = new HashMap<>();
-    private static final AtomicReference<ArrayList<Integer>> SKIPPED_IDS = new AtomicReference<>(new ArrayList<>());
-    private static boolean SHOULD_UPDATE_SKIPPED_MOTORS = false;
+    private static ArrayList<Integer> USED_MOTOR_IDS = new ArrayList<>();
+    private static boolean SHOULD_UPDATE_USED_MOTORS = false;
 
     /**
      * Adds a motor to the Orchestra.
@@ -87,48 +86,46 @@ public static double getPlayTimeSeconds() {
     }
 
     /**
-     * Adds IDs of motors that should be skipped when playing a file.
+     * Adds IDs of motors that should be used when playing a file.
      *
-     * @param newIDs the IDs of motors that should be skipped
+     * @param newIDs the IDs of the motors that should be used
      */
-    public static void addSkippedIDs(Integer... newIDs) {
-        ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
-        if (currentIDs.containsAll(Arrays.asList(newIDs)))
+    public static void addUsedMotorIDs(Integer... newIDs) {
+        if (USED_MOTOR_IDS.containsAll(Arrays.asList(newIDs)))
             return;
 
-        currentIDs.addAll(Arrays.asList(newIDs));
-        setSkippedIDs(currentIDs);
+        USED_MOTOR_IDS.addAll(Arrays.asList(newIDs));
+        setUsedMotorIDs(USED_MOTOR_IDS);
     }
 
     /**
-     * Removes IDs of motors that should no longer be skipped when playing a file.
+     * Removes IDs of motors that should no longer be used when playing a file.
      *
-     * @param idsToRemove the IDs of motors that should no longer be skipped
+     * @param idsToRemove the IDs of motors that should no longer be used
      */
-    public static void removeSkippedIDs(Integer... idsToRemove) {
-        ArrayList<Integer> currentIDs = SKIPPED_IDS.get();
-        if (!currentIDs.containsAll(Arrays.asList(idsToRemove)))
+    public static void removeUsedMotorIDs(Integer... idsToRemove) {
+        if (!USED_MOTOR_IDS.containsAll(Arrays.asList(idsToRemove)))
             return;
 
-        currentIDs.removeAll(Arrays.asList(idsToRemove));
-        setSkippedIDs(currentIDs);
+        USED_MOTOR_IDS.removeAll(Arrays.asList(idsToRemove));
+        setUsedMotorIDs(USED_MOTOR_IDS);
     }
 
     /**
-     * Clears all skipped motor IDs.
+     * Clears all used motor IDs.
      */
-    public static void clearSkippedIDs() {
-        setSkippedIDs(new ArrayList<>());
+    public static void clearUsedMotorIDs() {
+        setUsedMotorIDs(new ArrayList<>());
     }
 
     /**
-     * Sets the skipped motor IDs to a specific list.
+     * Sets the used motor IDs to a specific list.
      *
-     * @param skippedIDs the list of motor IDs to be skipped
+     * @param usedMotorIDs the list of motor IDs to be used
      */
-    public static void setSkippedIDs(ArrayList<Integer> skippedIDs) {
-        SKIPPED_IDS.set(skippedIDs);
-        SHOULD_UPDATE_SKIPPED_MOTORS = true;
+    public static void setUsedMotorIDs(ArrayList<Integer> usedMotorIDs) {
+        USED_MOTOR_IDS = usedMotorIDs;
+        SHOULD_UPDATE_USED_MOTORS = true;
     }
 
     /**
@@ -160,21 +157,21 @@ private static void playFile(String filePath, int[] motorsPerTrack) {
     }
 
     private static void updateMotors(int totalTracks) {
-        if (!SHOULD_UPDATE_SKIPPED_MOTORS)
+        if (!SHOULD_UPDATE_USED_MOTORS)
             return;
         ORCHESTRA.clearInstruments();
 
         applyTracks(totalTracks);
-        SHOULD_UPDATE_SKIPPED_MOTORS = false;
+        SHOULD_UPDATE_USED_MOTORS = false;
     }
 
     private static void updateMotors(int[] motorsPerTrack) {
-        if (!SHOULD_UPDATE_SKIPPED_MOTORS)
+        if (!SHOULD_UPDATE_USED_MOTORS)
             return;
         ORCHESTRA.clearInstruments();
 
         applyTracks(motorsPerTrack);
-        SHOULD_UPDATE_SKIPPED_MOTORS = false;
+        SHOULD_UPDATE_USED_MOTORS = false;
     }
 
     private static void applyTracks(int totalTracks) {
@@ -232,6 +229,6 @@ private static void addAndPlayFile(String filePath) {
     }
 
     private static boolean shouldUseMotor(Integer id) {
-        return !SKIPPED_IDS.get().contains(id);
+        return USED_MOTOR_IDS.contains(id);
     }
 }