Merge with LimelightTesting.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java

@@ -19,6 +19,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -26,7 +27,6 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -396,8 +396,6 @@ public class TeleopV3 extends LinearOpMode {
 
             turret.trackGoal(deltaPose);
 
-
-
             //VELOCITY AUTOMATIC
             if (targetingVel) {
                 vel = targetingSettings.flywheelRPM;
@@ -634,7 +632,6 @@ public class TeleopV3 extends LinearOpMode {
                 }
             }
 
-
 //
 //            if (shootAll) {
 //
@@ -806,7 +803,6 @@ public class TeleopV3 extends LinearOpMode {
             for (LynxModule hub : allHubs) {
                 hub.clearBulkCache();
             }
-
 //
             TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
             TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
@@ -833,7 +829,7 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("shootall commanded", shootAll);
             // Targeting Debug
             TELE.addData("robotX", robotX);
-            TELE.addData( "robotY", robotY);
+            TELE.addData("robotY", robotY);
             TELE.addData("robotInchesX", targeting.robotInchesX);
             TELE.addData( "robotInchesY", targeting.robotInchesY);
             TELE.addData("Targeting Interpolate", turretInterpolate);

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

@@ -4,32 +4,35 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import java.util.List;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
 @Config
 @TeleOp
 //TODO: fix to get the apriltag that it is reading
 public class LimelightTest extends LinearOpMode {
     MultipleTelemetry TELE;
+    Turret turret;
+    Robot robot;
     public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
     public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
+    public static boolean turretMode = false;
+    public static double turretPos = 0.501;
     @Override
     public void runOpMode() throws InterruptedException {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        limelight.pipelineSwitch(pipeline);
+        robot = new Robot(hardwareMap);
+        turret = new Turret(robot, TELE, robot.limelight);
+        robot.limelight.pipelineSwitch(pipeline);
         waitForStart();
         if (isStopRequested()) return;
-        limelight.start();
         while (opModeIsActive()){
             if (mode == 0){
-                limelight.pipelineSwitch(pipeline);
+                robot.limelight.pipelineSwitch(pipeline);
-                LLResult result = limelight.getLatestResult();
+                LLResult result = robot.limelight.getLatestResult();
                 if (result != null) {
                     if (result.isValid()) {
                         TELE.addData("tx", result.getTx());
@@ -38,40 +41,29 @@ public class LimelightTest extends LinearOpMode {
                     }
                 }
             } else if (mode == 1){
-                limelight.pipelineSwitch(1);
+                int obeliskID = turret.detectObelisk();
-                LLResult result = limelight.getLatestResult();
+                TELE.addData("Limelight ID", obeliskID);
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        int id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
                 TELE.update();
+            } else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
+                double tx = turret.getBearing();
+                double ty = turret.getTy();
+                double x = turret.getLimelightX();
+                double y = turret.getLimelightY();
+                TELE.addData("tx", tx);
+                TELE.addData("ty", ty);
+                TELE.addData("x", x);
+                TELE.addData("y", y);
+                TELE.update();
+            } else {
+                robot.limelight.pipelineSwitch(0);
+            }
+
+            if (turretMode){
+                if (turretPos != 0.501){
+                    turret.manualSetTurret(turretPos);
+                }
             }
 
         }
-            } else if (mode == 2){
-                limelight.pipelineSwitch(4);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else if (mode == 3){
-                limelight.pipelineSwitch(5);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else {
-                limelight.pipelineSwitch(0);
-            }
-        }
     }
 }

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

@@ -8,15 +8,12 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Turret;
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
 @Autonomous
 @Config
 public class TurretTest extends LinearOpMode {
-
     public static boolean zeroTurr = false;
     @Override
     public void runOpMode() throws InterruptedException {
@@ -26,11 +23,9 @@ public class TurretTest extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
 
-
         Turret turret = new Turret(robot, TELE, robot.limelight);
         waitForStart();
 
-
         MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
 
         while(opModeIsActive()){
@@ -38,16 +33,16 @@ public class TurretTest extends LinearOpMode {
             drive.updatePoseEstimate();
             turret.trackGoal(drive.localizer.getPose());
 
-
-
             TELE.addData("tpos", turret.getTurrPos());
+            TELE.addData("Limelight tx", turret.getBearing());
+            TELE.addData("Limelight ty", turret.getTy());
+            TELE.addData("Limelight X", turret.getLimelightX());
+            TELE.addData("Limelight Y", turret.getLimelightY());
 
             if(zeroTurr){
                 turret.zeroTurretEncoder();
             }
 
-
-
             TELE.update();
         }
 

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

@@ -21,7 +21,7 @@ public class Robot {
     //Initialize Public Components
 
     public static boolean usingLimelight = true;
-    public static boolean usingCamera = false;
+    public static boolean usingCamera = true;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;

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

@@ -1,3 +1,4 @@
+
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
@@ -5,6 +6,7 @@ import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
@@ -16,52 +18,50 @@ import java.util.List;
 
 @Config
 public class Turret {
-
     public static double turretTolerance = 0.02;
     public static double turrPosScalar = 0.00011264432;
     public static double turret180Range = 0.4;
     public static double turrDefault = 0.4;
+    // TODO: tune these values for limelight
+// At the top with other static variables:
+    public static double kP = 0.015;  // Proportional gain - tune this first
+    public static double kI = 0.0005; // Integral gain - add slowly if needed
+    public static double kD = 0.002;  // Derivative gain - helps prevent overshoot
+
+    public static double kF = 0.002;  // Derivative gain - helps prevent overshoot
+
+    public static double maxOffset = 10; // degrees - safety limit
+
+    // Add these as instance variables:
+    private double lastTagBearing = 0.0;
+    private double offsetIntegral = 0.0;
+
     public static double cameraBearingEqual = 1;
-    public static double errorLearningRate = -0.15;
+
+
     public static double turrMin = 0.2;
     public static double turrMax = 0.8;
     public static double mult = 0.0;
-
+    private boolean lockOffset = false;
-    public static double staticOffsetRate = -0.15;
-    public static double deltaAngleThreshold = 0.02;
-    public static double angleMultiplier = 0.0;
-
-    public static double fastSeekThreshold = 5.0;      // Switch to medium mode below this
-    public static double mediumSeekThreshold = 2.0;    // Switch to fine mode below this
-    public static double fastCorrectionGain = 0.75;    // Correction gain for large errors
-    public static double mediumCorrectionGain = 0.4;   // Correction gain for medium errors
-    public static double fineCorrectionGain = 0.2;     // Correction gain for small errors
-    public static double maxOffsetChangePerCycle = 0.3; // Max offset change per cycle (degrees)
-    public static double finalInterpolation = 0.1;     // Final position interpolation factor
-
-
-    // TODO: tune these values for limelight
-
-    public static double clampTolerance = 0.03;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
+    private int obeliskID = 0;
+    private double offset = 0.0;
 
+    private PIDFController controller = new PIDFController(kP, kI, kD, kF);
     double tx = 0.0;
     double ty = 0.0;
     double limelightPosX = 0.0;
     double limelightPosY = 0.0;
-    private boolean lockOffset = false;
+    public static double clampTolerance = 0.03;
-    private int obeliskID = 0;
-
-    private double offset = 0.0;
 
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;
         this.webcam = cam;
         webcam.start();
-        if (redAlliance) {
+        if (redAlliance){
             webcam.pipelineSwitch(3);
         } else {
             webcam.pipelineSwitch(2);
@@ -78,17 +78,17 @@ public class Turret {
 
     }
 
-    public void manualSetTurret(double pos) {
+    public void manualSetTurret(double pos){
         robot.turr1.setPosition(pos);
-        robot.turr2.setPosition(1 - pos);
+        robot.turr2.setPosition(1-pos);
     }
 
     public boolean turretEqual(double pos) {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
-    private void limelightRead() { // only for tracking purposes, not general reads
+    private void limelightRead(){ // only for tracking purposes, not general reads
-        if (redAlliance) {
+        if (redAlliance){
             webcam.pipelineSwitch(3);
         } else {
             webcam.pipelineSwitch(2);
@@ -101,7 +101,7 @@ public class Turret {
                 ty = result.getTy();
                 // MegaTag1 code for receiving position
                 Pose3D botpose = result.getBotpose();
-                if (botpose != null) {
+                if (botpose != null){
                     limelightPosX = botpose.getPosition().x;
                     limelightPosY = botpose.getPosition().y;
                 }
@@ -116,17 +116,17 @@ public class Turret {
         return tx;
     }
 
-    public double getTy() {
+    public double getTy(){
         limelightRead();
         return ty;
     }
 
-    public double getLimelightX() {
+    public double getLimelightX(){
         limelightRead();
         return limelightPosX;
     }
 
-    public double getLimelightY() {
+    public double getLimelightY(){
         limelightRead();
         return limelightPosY;
     }
@@ -158,9 +158,9 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
-
     public void trackGoal(Pose2d deltaPos) {
 
+        controller.setPIDF(kP, kI, kD, kF);
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
 
         // Angle from robot to goal in robot frame
@@ -173,75 +173,55 @@ public class Turret {
 
         // Turret angle needed relative to robot
         double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
+
         turretAngleDeg = -turretAngleDeg;
 
         // Normalize to [-180, 180]
         while (turretAngleDeg > 180) turretAngleDeg -= 360;
         while (turretAngleDeg < -180) turretAngleDeg += 360;
 
-
+        /* ---------------- APRILTAG CORRECTION ---------------- */
-        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
+//
-
         double tagBearingDeg = getBearing();  // + = target is to the left
-        boolean hasValidTarget = (tagBearingDeg != 1000.0);
 
-        // Apply persistent offset from previous corrections
         turretAngleDeg += offset;
 
-        // Active correction if we see the target
+        /* ---------------- ANGLE → SERVO ---------------- */
-        if (hasValidTarget && !lockOffset) {
-            double bearingError = Math.abs(tagBearingDeg);
 
-            if (bearingError > cameraBearingEqual) {
+        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
-                // Dual-mode correction: fast when far, gentle when close
+
-                double correctionGain;
+        // Clamp to servo range
-                if (bearingError > fastSeekThreshold) {
+        double currentEncoderPos = this.getTurrPos();
-                    correctionGain = fastCorrectionGain;
+
-                } else if (bearingError > mediumSeekThreshold) {
+        if (!turretEqual(turretPos)) {
-                    correctionGain = mediumCorrectionGain;
+            double diff = turretPos - currentEncoderPos;
-                } else {
+            turretPos = turretPos + diff * mult;
-                    correctionGain = fineCorrectionGain;
         }
 
-                // Immediate correction to turret angle
+        if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) {
-                turretAngleDeg -= tagBearingDeg * correctionGain;
+            // Clamp to servo range
+            turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
+        } else { // TODO: add so it only adds error when standstill
+            if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) {
+                // PID-based offset correction for faster, smoother tracking
+
+                // Proportional: respond to current error
+
+                 offset = -controller.calculate(tagBearingDeg);
+
 
-                // Learn offset slowly for persistent calibration
-                double offsetChange = -tagBearingDeg * errorLearningRate;
-                // Rate limit to prevent oscillation
-                offsetChange = Math.max(-maxOffsetChangePerCycle, Math.min(offsetChange, maxOffsetChangePerCycle));
-                offset += offsetChange;
 
-                TELE.addData("Correction Mode", bearingError > fastSeekThreshold ? "FAST" :
-                        bearingError > mediumSeekThreshold ? "MEDIUM" : "FINE");
             }
         }
 
-
-        /* ---------------- ANGLE → SERVO POSITION ---------------- */
-
-        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
-
-        // Clamp to physical servo limits
-        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
-
-        // Interpolate towards target position
-        double currentPos = getTurrPos();
-        double turretPos = currentPos + (targetTurretPos - currentPos) * finalInterpolation;
-
-        // Set servo positions
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1.0 - turretPos);
 
-
         /* ---------------- TELEMETRY ---------------- */
 
-        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
+        TELE.addData("Turret Angle", turretAngleDeg);
-        TELE.addData("Target Pos", "%.3f", targetTurretPos);
+        TELE.addData("Bearing", tagBearingDeg);
-        TELE.addData("Current Pos", "%.3f", currentPos);
+        TELE.addData("Offset", offset);
-        TELE.addData("Commanded Pos", "%.3f", turretPos);
-        TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
-        TELE.addData("Learned Offset", "%.2f", offset);
     }
 
 }

build.gradle

@@ -25,5 +25,9 @@ allprojects {
 }
 
 repositories {
+    repositories {
         mavenCentral()
+        google()
+        maven { url 'https://maven.pedropathing.com' }
+    }
 }