Merge remote-tracking branch 'origin/danielv5' into update-teleop

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12BallPedroPathing.java

@@ -22,28 +22,28 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.constants.Color;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
-import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
 import org.firstinspires.ftc.teamcode.utils.Targeting;
-import org.firstinspires.ftc.teamcode.utils.Turret;
+import org.firstinspires.ftc.teamcode.utilsv2.Turret;
 
 import java.util.List;
 
 @Config
-@Autonomous (preselectTeleOp = "TeleopV3")
+@Autonomous (preselectTeleOp = "TeleopV4")
 public class Auto12BallPedroPathing extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
-    Flywheel flywheel;
+//    Flywheel flywheel;
-    Targeting targeting;
+//    Targeting targeting;
-    Targeting.Settings targetingSettings;
+//    Targeting.Settings targetingSettings;
     Follower follower;
-    Turret turret;
+//    Turret turret;
-    Spindexer spindexer;
+//    Spindexer spindexer;
-    Servos servos;
+//    Servos servos;
     MeasuringLoopTimes loopTimes;
 
     // Wait Times
@@ -222,10 +222,10 @@ public class Auto12BallPedroPathing extends LinearOpMode {
                 driveShoot(PathState.WAIT_SHOOT3, currentTime);
                 break;
             case WAIT_SHOOT3:
-                if (spindexer.shootAllComplete()){
+//                if (spindexer.shootAllComplete()){
-                    spindexer.resetSpindexer();
+//                    spindexer.resetSpindexer();
-                    TELE.addLine("Done Auto");
+//                    TELE.addLine("Done Auto");
-                }
+//                }
                 break;
             default:
                 break;
@@ -237,21 +237,21 @@ public class Auto12BallPedroPathing extends LinearOpMode {
     private void intakePowerDown(double stamp, double currentTime) {
         double pow = (stamp - currentTime) / 2; // adjust denominator to see how much time to adjust
         if (pow < -1) {pow = 0;}
-        spindexer.setIntakePower(pow);
+//        spindexer.setIntakePower(pow);
     }
     private void driveShoot(PathState nextState, double currentTime){
         if (!follower.isBusy()){
             pathState = nextState;
             timeStamp = currentTime;
-            spindexer.prepareShootAllContinous();
+//            spindexer.prepareShootAllContinous();
         }
     }
     private void waitShoot(PathState nextState, PathChain nextPath, double currentTime) {
-        if (spindexer.shootAllComplete() || currentTime - timeStamp > shootTime) {
+        if (currentTime - timeStamp > shootTime) { // spindexer.shootAllComplete() ||
-            spindexer.resetSpindexer();
+//            spindexer.resetSpindexer();
             pathState = nextState;
             follower.followPath(nextPath, true);
-            spindexer.setIntakePower(1);
+//            spindexer.setIntakePower(1);
         }
     }
     private void drivePickup(PathState nextState, PathChain nextPath) {
@@ -286,24 +286,25 @@ public class Auto12BallPedroPathing extends LinearOpMode {
 
     @Override
     public void runOpMode() throws InterruptedException {
-        robot = new Robot(hardwareMap);
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
         List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
         for (LynxModule hub : allHubs) {
             hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
         }
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        flywheel = new Flywheel(hardwareMap);
+//        flywheel = new Flywheel(hardwareMap);
-        targeting = new Targeting();
+//        targeting = new Targeting();
-        targetingSettings = new Targeting.Settings(0,0);
+//        targetingSettings = new Targeting.Settings(0,0);
         follower = Constants.createFollower(hardwareMap);
         follower.setStartingPose(new Pose(72,72,0));
-        turret = new Turret(robot, TELE, robot.limelight);
+//        turret = new Turret(robot, TELE, robot.limelight);
-        spindexer = new Spindexer(hardwareMap);
+//        spindexer = new Spindexer(hardwareMap);
-        servos = new Servos(hardwareMap);
+//        servos = new Servos(hardwareMap);
         loopTimes = new MeasuringLoopTimes();
         loopTimes.init();
 
-        robot.light.setPosition(Color.LightRed);
+//        robot.light.setPosition(Color.LightRed);
 
         boolean initializeRobot = false;
         while (opModeInInit()){
@@ -311,11 +312,11 @@ public class Auto12BallPedroPathing extends LinearOpMode {
 
             if (gamepad1.crossWasPressed() && !initializeRobot){
                 Color.redAlliance = !Color.redAlliance;
-                if (Color.redAlliance){
+//                if (Color.redAlliance){
-                    robot.light.setPosition(Color.LightRed);
+//                    robot.light.setPosition(Color.LightRed);
-                } else {
+//                } else {
-                    robot.light.setPosition(Color.LightBlue);
+//                    robot.light.setPosition(Color.LightBlue);
-                }
+//                }
 
                 double[] xPoses = {startPoseX, shoot0X,
                         drivePickup1X, pickup1X, shoot1X,
@@ -338,8 +339,8 @@ public class Auto12BallPedroPathing extends LinearOpMode {
                 buildPaths();
                 sleep(2000);
 
-                turret.setTurret(turrDefault);
+//                turret.setTurret(turrDefault);
-                servos.setSpinPos(spinStartPos);
+//                servos.setSpinPos(spinStartPos);
             }
 
             TELE.addData("Red Alliance?", Color.redAlliance);
@@ -352,27 +353,27 @@ public class Auto12BallPedroPathing extends LinearOpMode {
 
         if (isStopRequested()) return;
 
-        robot.transfer.setPower(1);
+//        robot.transfer.setPower(1);
         limelightUsed = false;
 
         while (opModeIsActive()){
             follower.update();
             pathStateMachine();
             Pose currentPose = follower.getPose();
-            teleStartPoseX = currentPose.getX();
+//            teleStartPoseX = currentPose.getX();
-            teleStartPoseY = currentPose.getY();
+//            teleStartPoseY = currentPose.getY();
-            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
+//            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
-
+//
-            turret.trackGoal(new Pose(shootX, shootY, Math.toRadians(shootH)));
+//            turret.trackGoal(new Pose(shootX, shootY, Math.toRadians(shootH)));
-            targetingSettings = targeting.calculateSettings(shootX, shootY, Math.toRadians(shootH), 0, turretInterpolate);
+//            targetingSettings = targeting.calculateSettings(shootX, shootY, Math.toRadians(shootH), 0, turretInterpolate);
-
+//
-            double voltage = robot.voltage.getVoltage();
+//            double voltage = robot.voltage.getVoltage();
-            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+//            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
-            flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+//            flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-            servos.setHoodPos(targetingSettings.hoodAngle);
+//            servos.setHoodPos(targetingSettings.hoodAngle);
-
+//
-            if (driveToShoot()){servos.setSpinPos(spinStartPos);}
+//            if (driveToShoot()){servos.setSpinPos(spinStartPos);}
-            else {spindexer.processIntake();}
+//            else {spindexer.processIntake();}
 
             for (LynxModule hub : allHubs) {
                 hub.clearBulkCache();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java

@@ -0,0 +1,366 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierCurve;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
+import org.firstinspires.ftc.teamcode.utilsv2.Turret;
+
+import java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV4")
+public class Auto12Ball_Back_Sorted extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Follower follower;
+    MeasuringLoopTimes loopTimes;
+
+    // Wait Times
+    public static double shootTime = 2;
+    public static double openGateTime = 1.5;
+
+    // Extra Variables
+    public static double intakePower = 0.3;
+    double shootX, shootY, shootH;
+
+    // Initialize path state machine
+    private enum PathState {
+        PUSHBOT, DRIVE_SHOOT0, WAIT_SHOOT0,
+        PICKUP1, DRIVE_OPENGATE, OPENGATE, DRIVE_SHOOT1, WAIT_SHOOT1,
+        DRIVE_PICKUP2, PICKUP2, DRIVE_SHOOT2, WAIT_SHOOT2,
+        DRIVE_PICKUP3, PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3
+    }
+    PathState pathState = PathState.PUSHBOT;
+
+    // Poses
+    public static double startPoseX = 84, startPoseY = 7, startPoseH = 90;
+    public static double pushBotX = 94, pushBotY = 9, pushBotH = 100;
+    public static double shoot0ControlX = 88.29667812142038, shoot0ControlY = 52.03493699885454;
+    public static double shoot0X = 91, shoot0Y = 80, shoot0H = 0;
+    public static double pickup1ControlX = 109.29381443298968, pickup1ControlY = 82.70618556701031;
+    public static double pickup1X = 126, pickup1Y = 82, pickup1H = 0;
+    public static double openGateControlX = 109.184421534937, openGateControlY = 74.24455899198165;
+    public static double openGateX = 129, openGateY = 74, openGateH = 0;
+    public static double shoot1ControlX = 112, shoot1ControlY = 75;
+    public static double shoot1X = 91, shoot1Y = 80, shoot1H = -12;
+    public static double drivePickup2X = 102, drivePickup2Y = 58.5, drivePickup2H = 0;
+    public static double pickup2X = 133, pickup2Y = 57, pickup2H = 0;
+    public static double shoot2ControlX = 102, shoot2ControlY = 63;
+    public static double shoot2X = 91, shoot2Y = 80, shoot2H = -50;
+    public static double drivePickup3X = 102, drivePickup3Y = 34.5, drivePickup3H = 0;
+    public static double pickup3X = 133, pickup3Y = 34.5, pickup3H = 0;
+    public static double shoot3ControlX = 97.62371134020621, shoot3ControlY = 34.813287514318446;
+    public static double shoot3X = 84, shoot3Y = 105, shoot3H = -80;
+    Pose startPose, pushBot, shoot0Control, shoot0,
+            pickup1Control, pickup1, openGateControl, openGate, shoot1Control, shoot1,
+            drivePickup2, pickup2, shoot2Control, shoot2,
+            drivePickup3, pickup3, shoot3Control, shoot3;
+    private void initializePoses(){
+        startPose = new Pose(startPoseX, startPoseY, Math.toRadians(startPoseH));
+        pushBot = new Pose(pushBotX, pushBotY, Math.toRadians(pushBotH));
+        shoot0Control = new Pose(shoot0ControlX, shoot0ControlY);
+        shoot0 = new Pose(shoot0X, shoot0Y, Math.toRadians(shoot0H));
+        pickup1Control = new Pose(pickup1ControlX, pickup1ControlY);
+        pickup1 = new Pose(pickup1X, pickup1Y, Math.toRadians(pickup1H));
+        openGateControl = new Pose(openGateControlX, openGateControlY);
+        openGate = new Pose(openGateX, openGateY, Math.toRadians(openGateH));
+        shoot1Control = new Pose(shoot1ControlX, shoot1ControlY);
+        shoot1 = new Pose(shoot1X, shoot1Y, Math.toRadians(shoot1H));
+        drivePickup2 = new Pose(drivePickup2X, drivePickup2Y, Math.toRadians(drivePickup2H));
+        pickup2 = new Pose(pickup2X, pickup2Y, Math.toRadians(pickup2H));
+        shoot2Control = new Pose(shoot2ControlX, shoot2ControlY);
+        shoot2 = new Pose(shoot2X, shoot2Y, Math.toRadians(shoot2H));
+        drivePickup3 = new Pose(drivePickup3X, drivePickup3Y, Math.toRadians(drivePickup3H));
+        pickup3 = new Pose(pickup3X, pickup3Y, Math.toRadians(pickup3H));
+        shoot3Control = new Pose(shoot3ControlX, shoot3ControlY);
+        shoot3 = new Pose(shoot3X, shoot3Y, Math.toRadians(shoot3H));
+    }
+
+    //Building Paths
+    PathChain startPose_pushBot, pushBot_shoot0,
+            shoot0_pickup1, pickup1_openGate, openGate_shoot1,
+            shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
+            shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
+    private void buildPaths(){
+        startPose_pushBot = follower.pathBuilder()
+                .addPath(new BezierLine(startPose, pushBot))
+                .setLinearHeadingInterpolation(startPose.getHeading(), pushBot.getHeading())
+                .build();
+
+        pushBot_shoot0 = follower.pathBuilder()
+                .addPath(new BezierCurve(pushBot, shoot0Control, shoot0))
+                .setLinearHeadingInterpolation(pushBot.getHeading(), shoot0.getHeading())
+                .build();
+
+        shoot0_pickup1 = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot0, pickup1Control, pickup1))
+                .setLinearHeadingInterpolation(shoot0.getHeading(), pickup1.getHeading())
+                .build();
+
+        pickup1_openGate = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup1, openGateControl, openGate))
+                .setLinearHeadingInterpolation(pickup1.getHeading(), openGate.getHeading())
+                .build();
+
+        openGate_shoot1 = follower.pathBuilder()
+                .addPath(new BezierCurve(openGate, shoot1Control, shoot1))
+                .setLinearHeadingInterpolation(openGate.getHeading(), shoot1.getHeading())
+                .build();
+
+        shoot1_drivePickup2 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot1, drivePickup2))
+                .setLinearHeadingInterpolation(shoot1.getHeading(), drivePickup2.getHeading())
+                .build();
+
+        drivePickup2_pickup2 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup2, pickup2))
+                .setLinearHeadingInterpolation(drivePickup2.getHeading(), pickup2.getHeading())
+                .build();
+
+        pickup2_shoot2 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup2, shoot2Control, shoot2))
+                .setLinearHeadingInterpolation(pickup2.getHeading(), shoot2.getHeading())
+                .build();
+
+        shoot2_drivePickup3 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot2, drivePickup3))
+                .setLinearHeadingInterpolation(shoot2.getHeading(), drivePickup3.getHeading())
+                .build();
+
+        drivePickup3_pickup3 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup3, pickup3))
+                .setLinearHeadingInterpolation(drivePickup3.getHeading(), pickup3.getHeading())
+                .build();
+
+        pickup3_shoot3 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup3, shoot3Control, shoot3))
+                .setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private boolean startAuto = true;
+    private double timeStamp = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case PUSHBOT:
+                if (startAuto){
+                    follower.followPath(startPose_pushBot, true);
+                    startAuto = false;
+                    shootX = shoot0X;
+                    shootY = shoot0Y;
+                    shootH = shoot0H;
+                }
+                if (!follower.isBusy()){
+                    follower.followPath(pushBot_shoot0, true);
+                    pathState = PathState.DRIVE_SHOOT0;
+                }
+                break;
+            case DRIVE_SHOOT0:
+                if (!follower.isBusy()){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT0;
+                }
+                break;
+            case WAIT_SHOOT0:
+                if (currentTime - timeStamp > shootTime){
+                    follower.followPath(shoot0_pickup1, intakePower, false);
+                    pathState = PathState.PICKUP1;
+                }
+                break;
+            case PICKUP1:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup1_openGate, true);
+                    pathState = PathState.OPENGATE;
+                    shootX = shoot1X;
+                    shootY = shoot1Y;
+                    shootH = shoot1H;
+                }
+                break;
+            case DRIVE_OPENGATE:
+                if (!follower.isBusy()){
+                    pathState = PathState.OPENGATE;
+                    timeStamp = currentTime;
+                }
+                break;
+            case OPENGATE:
+                if (currentTime - timeStamp > openGateTime){
+                    follower.followPath(openGate_shoot1, true);
+                    pathState = PathState.DRIVE_SHOOT1;
+                }
+                break;
+            case DRIVE_SHOOT1:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT1;
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT1:
+                if (currentTime - timeStamp > shootTime){
+                    follower.followPath(shoot1_drivePickup2, true);
+                    pathState = PathState.DRIVE_PICKUP2;
+                }
+                break;
+            case DRIVE_PICKUP2:
+                if (!follower.isBusy()) {
+                    follower.followPath(drivePickup2_pickup2, intakePower, false);
+                    pathState = PathState.PICKUP2;
+                }
+                break;
+            case PICKUP2:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup2_shoot2, true);
+                    pathState = PathState.DRIVE_SHOOT2;
+                }
+                shootX = shoot2X;
+                shootY = shoot2Y;
+                shootH = shoot2H;
+                break;
+            case DRIVE_SHOOT2:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT2;
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT2:
+                if (currentTime - timeStamp > shootTime){
+                    follower.followPath(shoot2_drivePickup3, true);
+                    pathState = PathState.DRIVE_PICKUP3;
+                }
+                break;
+            case DRIVE_PICKUP3:
+                if (!follower.isBusy()){
+                    follower.followPath(drivePickup3_pickup3, intakePower, false);
+                    pathState = PathState.PICKUP3;
+                }
+                break;
+            case PICKUP3:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup3_shoot3, true);
+                    pathState = PathState.DRIVE_SHOOT3;
+                }
+                shootX = shoot3X;
+                shootY = shoot3Y;
+                shootH = shoot3H;
+                break;
+            case DRIVE_SHOOT3:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT3;
+                }
+                break;
+            case WAIT_SHOOT3:
+                // add line here to say "done auto'
+                break;
+            default:
+                break;
+        }
+        TELE.update(); // use for debugging
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return (144-pose);}
+    private double adjustHeadingBasedOnAlliance(double heading){
+        heading = 180 - heading;
+        while (heading > 180) {heading-=360;}
+        while (heading <= -180) {heading+=360;}
+        return heading;
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        follower = Constants.createFollower(hardwareMap);
+        follower.setStartingPose(new Pose(72,72,0));
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+            follower.update();
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+
+                double[] xPoses = {startPoseX, pushBotX, shoot0ControlX, shoot0X,
+                        pickup1ControlX, pickup1X, openGateControlX, openGateX, shoot1ControlX, shoot1X,
+                        drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
+                        drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
+
+                double[] headings = {startPoseH, pushBotH, shoot0H,
+                        pickup1H, openGateH, shoot1H,
+                        drivePickup2H, pickup2H, shoot2H,
+                        drivePickup3H, pickup3H, shoot3H};
+
+                for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
+                for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initializeRobot = true;
+                initializePoses();
+                follower.setPose(startPose);
+                buildPaths();
+                sleep(2000);
+            }
+
+            TELE.addData("Red Alliance?", Color.redAlliance);
+            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
+            TELE.addData("Start Pose", follower.getPose());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        limelightUsed = false;
+
+        while (opModeIsActive()){
+            follower.update();
+            pathStateMachine();
+            Pose currentPose = follower.getPose();
+            teleStartPoseX = currentPose.getX();
+            teleStartPoseY = currentPose.getY();
+            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("X:", currentPose.getX());
+            TELE.addData("Y:", currentPose.getY());
+            TELE.addData("H:", currentPose.getHeading());
+            TELE.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java

@@ -18,9 +18,12 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 public class Constants {
     public static FollowerConstants followerConstants = new FollowerConstants()
             .mass(14.37888)
-            .forwardZeroPowerAcceleration(-29.512)
+            .forwardZeroPowerAcceleration(-30.322)
-            .lateralZeroPowerAcceleration(-72.872)
+            .lateralZeroPowerAcceleration(-60.876)
-            .centripetalScaling(0);
+            .translationalPIDFCoefficients(new PIDFCoefficients(0.15, 0, 0.015, 0.02))
+            .headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02))
+            .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.02, 0, 0.00001, 0.6, 0.015))
+            .centripetalScaling(0.0005);
 
     public static MecanumConstants driveConstants = new MecanumConstants()
             .maxPower(1)
@@ -32,15 +35,15 @@ public class Constants {
             .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
             .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
             .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD)
-            .xVelocity(64.675)
+            .xVelocity(84.376)
-            .yVelocity(49.583);
+            .yVelocity(64.052);
 
     public static double breakingStrength = 1;
     public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1);
 
     public static PinpointConstants localizerConstants = new PinpointConstants()
-            .forwardPodY(-3.676)
+            .forwardPodY(3.7795)
-            .strafePodX(3.780)
+            .strafePodX(-3.676)
             .distanceUnit(DistanceUnit.INCH)
             .hardwareMapName("pinpoint")
             .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java

@@ -416,7 +416,7 @@ class ForwardVelocityTuner extends OpMode {
 
 
         if (!end) {
-            if (Math.abs(follower.getPose().getX()) > (DISTANCE + 72)) {
+            if (Math.abs(follower.getPose().getX()) > (DISTANCE)) {
                 end = true;
                 stopRobot();
             } else {
@@ -524,7 +524,7 @@ class LateralVelocityTuner extends OpMode {
         drawCurrentAndHistory();
 
         if (!end) {
-            if (Math.abs(follower.getPose().getY()) > (DISTANCE + 72)) {
+            if (Math.abs(follower.getPose().getY()) > (DISTANCE)) {
                 end = true;
                 stopRobot();
             } else {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/Hardware_Tester.java

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
@@ -8,7 +9,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
 
 @Config
 @TeleOp
@@ -50,8 +51,9 @@ public class Hardware_Tester extends LinearOpMode {
 
     @Override
     public void runOpMode() throws InterruptedException {
-        robot = new Robot(hardwareMap);
+        Robot.resetInstance();
-        TELE = new MultipleTelemetry();
+        robot = Robot.getInstance(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
 
         robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
@@ -122,7 +124,8 @@ public class Hardware_Tester extends LinearOpMode {
 
             // Sensor Data
 
-//            TELE.addData("Beam Break 1?", robot.beam1.isPressed());
+            TELE.addData("Beam Break insideBeam?", robot.insideBeam.isPressed());
+            TELE.addData("Beam Break outsideBeam?", robot.outsideBeam.isPressed());
 //            TELE.addData("Beam Break 2?", robot.beam2.isPressed());
 //            TELE.addData("Beam Break 3?", robot.beam3.isPressed());
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java

@@ -20,16 +20,20 @@ public class NewShooterTest extends LinearOpMode {
     Robot robot;
     Flywheel flywheel;
     Turret turret;
+    MultipleTelemetry TELE;
+
 
     public static boolean intake = true;
     public static boolean shoot = false;
     public static double intakePower = 1.0;
     public static double transferShootPower = -1;
-    public static double transferIntakePower = -1.0;
+    public static double transferIntakePower = -1;
     public static double turretPos = 0.51;
     public static double hoodPos = 0.51;
     public static double flywheel_velo = 0;
 
+    public static double shooterP = 255, shooterI = 0, shooterD = 0, shooterF = 75;
+
     private enum ShootState {
         IDLE,
         WAIT_GATE,
@@ -46,15 +50,15 @@ public class NewShooterTest extends LinearOpMode {
 
         robot = Robot.getInstance(hardwareMap);
 
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+
         flywheel = new Flywheel(robot);
         turret = new Turret(robot);
 
         Shooter shooter = new Shooter(
                 robot,
-                new MultipleTelemetry(
+                TELE,
-                        telemetry,
-                        FtcDashboard.getInstance().getTelemetry()
-                ),
                 Constants.createFollower(hardwareMap),
                 true,
                 turret,
@@ -72,6 +76,9 @@ public class NewShooterTest extends LinearOpMode {
             robot.setHoodPos(hoodPos);
             shooter.setTurretPosition(turretPos);
             shooter.setFlywheelVelocity(flywheel_velo);
+            double voltage = robot.voltage.getVoltage();
+            flywheel.setPIDF(shooterP, shooterI, shooterD, shooterF / voltage);
+
             robot.setSpinPos(ServoPositions.spindexer_A2);
 
             if (intake && !shoot) {
@@ -85,9 +92,7 @@ public class NewShooterTest extends LinearOpMode {
                 robot.setIntakePower(intakePower);
                 robot.setTransferServoPos(
                         ServoPositions.transferServo_out);
-            }
+            } else if (shoot) {
-
-            else if (shoot) {
                 robot.setIntakePower(intakePower);
 
 
@@ -129,6 +134,13 @@ public class NewShooterTest extends LinearOpMode {
                 }
             }
 
+            TELE.addData("Flywheel Velocity1", (robot.shooter1.getVelocity() * 60) / 28);
+            TELE.addData("Flywheel Velocity2", (robot.shooter2.getVelocity() * 60) / 28);
+            TELE.addData("Flywheel Averag Velocity", flywheel.getAverageVelocity());
+            TELE.addData("PIDF Coefficients", Flywheel.shooterPIDF);
+            TELE.addData("Power", flywheel.getShooterPower());
+            TELE.update();
+
             shooter.update();
         }
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java

@@ -1,8 +1,8 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 
 import org.firstinspires.ftc.teamcode.utilsv2.Robot;
@@ -12,7 +12,12 @@ import java.util.LinkedList;
 public class Flywheel {
     Robot robot;
 
-    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+//    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+    public static PIDFCoefficients shooterPIDF;
+    public static double shooterPIDF_P = 255;
+    public static double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_F = 75;
 
     private double velo = 0.0;
     private double velo1 = 0.0;
@@ -27,10 +32,8 @@ public class Flywheel {
     private final LinkedList<Double> velocityHistory = new LinkedList<>();
 
     public Flywheel(Robot rob) {
-
         robot = rob;
-        shooterPIDF1 = new PIDFCoefficients(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
-        shooterPIDF2 = new PIDFCoefficients(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
     }
 
     public double getVelo() {
@@ -54,28 +57,24 @@ public class Flywheel {
     }
 
     // Set the robot PIDF for the next cycle.
-    private double prevF = 0;
-
-    public static double voltagePIDFDifference = 0.8;
 
     public void setPIDF(double p, double i, double d, double f) {
 
-        shooterPIDF1.p = p;
+        shooterPIDF.p = p;
-        shooterPIDF1.i = i;
+        shooterPIDF.i = i;
-        shooterPIDF1.d = d;
+        shooterPIDF.d = d;
-        shooterPIDF1.f = f;
+        shooterPIDF.f = f;
 
-        shooterPIDF2.p = p;
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooterPIDF2.i = i;
+    }
-        shooterPIDF2.d = d;
-        shooterPIDF2.f = f;
 
+    private double prevF = 0;
+
+    public static double voltagePIDFDifference = 0.8;
+    public void setF(double f){
         if (Math.abs(prevF - f) > voltagePIDFDifference) {
-
+            shooterPIDF.f = f;
-            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-
-            robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
-
             prevF = f;
         }
     }
@@ -108,6 +107,7 @@ public class Flywheel {
         averageVelocity = sum / velocityHistory.size();
     }
 
+    double power;
     public void manageFlywheel(double commandedVelocity) {
 
         if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
@@ -115,8 +115,8 @@ public class Flywheel {
         }
 
         robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
-
+        power = robot.shooter1.getPower();
-        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setPower(power);
 
         velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
 
@@ -128,4 +128,5 @@ public class Flywheel {
 
         steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
     }
+    public double getShooterPower(){return power;}
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
+import android.view.View;
+
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -19,6 +21,7 @@ public class Robot {
     // Singleton instance
     private static Robot instance;
 
+
     /**
      * Returns the existing Robot instance or creates one if it doesn't exist.
      */
@@ -45,11 +48,6 @@ public class Robot {
     public DcMotorEx backRight;
     public DcMotorEx intake;
     public DcMotorEx transfer;
-    public PIDFCoefficients shooterPIDF;
-    public static double shooterPIDF_P = 255;
-    public static double shooterPIDF_I = 0.0;
-    public static double shooterPIDF_D = 0.0;
-    public static double shooterPIDF_F = 75;
     //    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
@@ -65,7 +63,6 @@ public class Robot {
     public Servo spin2;
     public TouchSensor insideBeam;
     public TouchSensor outsideBeam;
-
     public RevColorSensorV3 revSensor;
 
     public VoltageSensor voltage;
@@ -106,13 +103,10 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
 
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
+//        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+//        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter1.setVelocity(0);
+        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter2.setVelocity(0);
 
         hood = hardwareMap.get(Servo.class, "hood");