addressed the review

src/main/java/org/sciborgs1155/robot/commands/Scoraling.java

@@ -16,28 +16,36 @@ public Scoraling(Hopper hopper, Scoral scoral, Elevator elevator) {
     this.scoral = scoral;
     this.elevator = elevator;
 
-    hopper.beambreakTrigger.onTrue(hopper.stop().alongWith(scoral.stop()));
-    scoral.beambreakTrigger.onFalse(hopper.stop().alongWith(scoral.stop()));
+    hopper.beambreakTrigger.onTrue(stop());
+    scoral.beambreakTrigger.onFalse(stop());
   }
 
+  /** intakes from the human player station */
   public Command hpsIntake() {
-    return elevator.retract().andThen(run()).onlyIf(scoral.beambreakTrigger);
+    return elevator.retract().andThen(runRollers()).onlyIf(scoral.beambreakTrigger);
   }
 
+  /**
+   * scores a coral at the given level, assuming you are already at the correct branch
+   *
+   * @param level the level the scoral scores in
+   */
   public Command scoral(Level level) {
     return elevator.scoreLevel(level).andThen(scoral.outtake());
   }
 
-  /** ONLY L2 and L3 */
+  /** grabs the algae from the level given (goes above the level) ONLY L2 and L3 */
   public Command grabAlgae(Level level) {
     return elevator.clean(level).andThen(scoral.intake()).onlyIf(scoral.beambreakTrigger);
   }
 
-  public Command halt() {
+  /** halts both the hopper and the scoral */
+  public Command stop() {
     return hopper.stop().alongWith(scoral.stop());
   }
 
-  public Command run() {
+  /** runs the hps + scoral rollers forward (intaking) */
+  public Command runRollers() {
     return hopper.intake().alongWith(scoral.outtake());
   }
 }

src/main/java/org/sciborgs1155/robot/elevator/Elevator.java

@@ -24,6 +24,8 @@
 import monologue.Annotations.Log;
 import monologue.Logged;
 import org.sciborgs1155.lib.Assertion;
+import org.sciborgs1155.lib.FaultLogger;
+import org.sciborgs1155.lib.FaultLogger.FaultType;
 import org.sciborgs1155.lib.Test;
 import org.sciborgs1155.robot.Constants.Field.Level;
 import org.sciborgs1155.robot.Robot;
@@ -106,7 +108,11 @@ public Command scoreLevel(Level level) {
   /** Goes to an offset height above the level given to clean algae ONLY L2 and L3! */
   public Command clean(Level level) {
     if (level == Level.L1 || level == Level.L4) {
-      throw new RuntimeException("Not a valid algae height! Only L2 and L3!");
+      retract();
+      FaultLogger.report(
+          "Algae level fault",
+          "an invalid level has been passed to the clean command, L1 or L4",
+          FaultType.WARNING);
     }
 
     return goTo(level.height.plus(algaeOffset).in(Meters));