todo

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java

@@ -163,7 +163,9 @@ public class TeleopV2 extends LinearOpMode {
             robot.turr1.setPower(turretPID);
             robot.turr2.setPower(-turretPID);
 
+            //TODO: make sure changing position works throughout opmode
             if (!servo.spinEqual(spindexPos)){
+                spindexPID = servo.setSpinPos(spindexPos);
                 robot.spin1.setPower(spindexPID);
                 robot.spin2.setPower(-spindexPID);
             } else{
@@ -320,6 +322,7 @@ public class TeleopV2 extends LinearOpMode {
                 offset -= 360;
             }
 
+            //TODO: test the camera teleop code
             double pos = turrDefault + (error/8); // adds the overall error to the default
 
             TELE.addData("offset", offset);

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

@@ -20,7 +20,7 @@ public class IntakeTest extends LinearOpMode {
     Servos servo;
 
     public static int mode = 0; // 0 for teleop, 1 for auto
-    public static double manualPow = 0.5;
+    public static double manualPow = 1.0;
     double stamp = 0;
     int ticker = 0;
     boolean b1 = false;
@@ -40,6 +40,7 @@ public class IntakeTest extends LinearOpMode {
         if (isStopRequested()) return;
 
         while (opModeIsActive()) {
+            //TODO: test tele intake with new spindexer
             if (mode == 0) {
                 if (gamepad1.cross) {
                     ticker = 0;
@@ -59,6 +60,7 @@ public class IntakeTest extends LinearOpMode {
                         robot.intake.setPower(0);
                     }
                 }
+            //TODO: test this monstrosity
             } else if (mode == 1) {
 
                 if (gamepad1.cross){

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

@@ -6,9 +6,7 @@ import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
-
-import java.util.List;
-
+//TODO: fix to get the apriltag that it is reading
 public class LimelightTest extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
@@ -20,7 +18,6 @@ public class LimelightTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         robot.limelight.pipelineSwitch(pipeline);
-
         waitForStart();
         if (isStopRequested()) return;
         robot.limelight.start();

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

@@ -15,8 +15,9 @@ public class Servos {
     PIDFController turretPID;
 
     //PID constants
+    // TODO: get PIDF constants
     public static double spinP = 2.85, spinI = 0.015, spinD = 0.09, spinF = 0.03;
-    public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF;
+    public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
 
     public static double spin_scalar = 1.011;
     public static double spin_restPos = 0.0;
@@ -34,7 +35,7 @@ public class Servos {
     public double getSpinPos() {
         return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
     }
-
+    //TODO: PID warp so 0 and 1 are usable positions
     public double setSpinPos(double pos) {
         spinPID.setPIDF(spinP, spinI, spinD, spinF);