even more updates

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/blank.java

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.constants;
-
-public class blank {
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.libs.RR;
 
+
 import androidx.annotation.NonNull;
 
 import com.acmerobotics.dashboard.canvas.Canvas;
@@ -211,6 +212,7 @@ public final class MecanumDrive {
                     headingDelta
             ));
 
+
             return twist.velocity().value();
         }
     }
@@ -222,7 +224,7 @@ public final class MecanumDrive {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
         }
 
-        // TODO: make sure your config has motors with these names (or change them)
+        // TODO: make sure your HardwareConfig has motors with these names (or change them)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
         leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
@@ -237,7 +239,7 @@ public final class MecanumDrive {
         // TODO: reverse motor directions if needed
         //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
 
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        // TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/OTOSLocalizer.java

@@ -28,7 +28,7 @@ public class OTOSLocalizer implements Localizer {
     private Pose2d currentPose;
 
     public OTOSLocalizer(HardwareMap hardwareMap, Pose2d initialPose) {
-        // TODO: make sure your config has an OTOS device with this name
+        // TODO: make sure your HardwareConfig has an OTOS device with this name
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
         currentPose = initialPose;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/PinpointLocalizer.java

@@ -29,7 +29,7 @@ public final class PinpointLocalizer implements Localizer {
     private Pose2d txPinpointRobot = new Pose2d(0, 0, 0);
 
     public PinpointLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
-        // TODO: make sure your config has a Pinpoint device with this name
+        // TODO: make sure your HardwareConfig has a Pinpoint device with this name
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         driver = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/TankDrive.java

@@ -232,7 +232,7 @@ public final class TankDrive {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
         }
 
-        // TODO: make sure your config has motors with these names (or change them)
+        // TODO: make sure your HardwareConfig has motors with these names (or change them)
         //   add additional motors on each side if you have them
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
@@ -248,7 +248,7 @@ public final class TankDrive {
         // TODO: reverse motor directions if needed
         //   leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
 
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        // TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/ThreeDeadWheelLocalizer.java

@@ -37,7 +37,7 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
     private Pose2d pose;
 
     public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
-        // TODO: make sure your config has **motors** with these names (or change them)
+        // TODO: make sure your HardwareConfig has **motors** with these names (or change them)
         //   the encoders should be plugged into the slot matching the named motor
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/TwoDeadWheelLocalizer.java

@@ -46,7 +46,7 @@ public final class TwoDeadWheelLocalizer implements Localizer {
     private Pose2d pose;
 
     public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick, Pose2d initialPose) {
-        // TODO: make sure your config has **motors** with these names (or change them)
+        // TODO: make sure your HardwareConfig has **motors** with these names (or change them)
         //   the encoders should be plugged into the slot matching the named motor
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));

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

@@ -6,10 +6,10 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
+import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.subsystems.Limelight;
 
-
 @Autonomous
 @Config
 
@@ -21,12 +21,21 @@ public class LimelightTest extends LinearOpMode {
 
     MultipleTelemetry TELE;
 
+
+
+
+
+
     Robot robot;
 
     @Override
     public void runOpMode() throws InterruptedException {
 
 
+
+        HardwareConfig.USING_LL= true;
+
+
         robot = new Robot(hardwareMap);
 
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
@@ -51,6 +60,7 @@ public class LimelightTest extends LinearOpMode {
 
             TELE.update();
 
+
         }
 
     }

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

@@ -1,7 +1,10 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
+
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.IMU;
 
 public class Robot {
 
@@ -15,5 +18,12 @@ public class Robot {
 
         limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
 
+        if (USING_LL) {
+            limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
+            limelight3A.start(); // This tells Limelight to start looking!
+        }
+
+
+
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/functions/DistanceToTarget.java

@@ -1,4 +1,8 @@
 package org.firstinspires.ftc.teamcode.utils.functions;
 
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
 public class DistanceToTarget {
+
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/subsystems/Limelight.java

@@ -11,6 +11,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.robotcore.external.navigation.Position;
 import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Subsystem;
 
@@ -49,6 +50,9 @@ public class Limelight implements Subsystem {
     private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
 
     public Limelight(Robot robot, MultipleTelemetry tele) {
+
+        HardwareConfig.USING_LL= true;
+
         this.limelight = robot.limelight3A;
         this.telemetry = tele;
         limelight.pipelineSwitch(1);
@@ -65,6 +69,9 @@ public class Limelight implements Subsystem {
     /** ✅ MAIN UPDATE LOOP */
     @Override
     public void update() {
+
+        limelight.updateRobotOrientation();
+
         result = limelight.getLatestResult();
         status = limelight.getStatus();
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/variables/HardwareConfig.java

@@ -1,10 +1,12 @@
-package org.firstinspires.ftc.teamcode.utils;
+package org.firstinspires.ftc.teamcode.variables;
 
 
 import com.acmerobotics.dashboard.config.Config;
 
 @Config
-public class Vars {
+public class HardwareConfig {
 
     public static boolean USING_LL = false;
+
+
 }