lot of stuff to test tomorrow

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

@@ -16,7 +16,6 @@ public class ServoPositions {
     public static double transferServo_out = 0.13;
 
     public static double transferServo_in = 0.4;
-    public static double transferServoPos = 0.5;
 
     public static double hoodDefault = 0.35;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java

@@ -244,12 +244,5 @@ public class Shooter implements Subsystem {
 
         }
 
-        if (Objects.equals(turretMode, "MANUAL")) {
-            hoodServo.setPosition(hoodPos);
-
-            moveTurret(turretPos);
-
-        }
-
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java

@@ -210,7 +210,6 @@ public class TeleopV1 extends LinearOpMode {
             TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
 
             TELE.addData("off", offset);
-            robot.transferServo.setPosition(transferServoPos);
 
             robot.hood.setPosition(pos);
 

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

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -44,6 +46,8 @@ public class ShooterTest extends LinearOpMode {
 
     public static int tolerance = 300;
 
+    public static boolean shoot = false;
+
     MultipleTelemetry TELE;
 
     @Override
@@ -77,14 +81,10 @@ public class ShooterTest extends LinearOpMode {
 
             shooter.setManualPower(pow);
 
-            if (hoodPos != 0.501) {
             robot.hood.setPosition(hoodPos);
-            }
-
-            if (turretPos != 0.501) {
             robot.turr1.setPosition(turretPos);
             robot.turr2.setPosition(turretPos);
-            }
+
             velo1 = -60 * ((shooter.getECPRPosition() - initPos1) / (getRuntime() - stamp1));
             stamp1 = getRuntime();
             initPos1 = shooter.getECPRPosition();
@@ -96,6 +96,13 @@ public class ShooterTest extends LinearOpMode {
                 powPID = powPID - 0.001;
             }
             shooter.setVelocity(powPID);
+            robot.transfer.setPower((powPID / 2) + 0.5);
+
+            if (shoot){
+                robot.transferServo.setPosition(transferServo_in);
+            } else {
+                robot.transferServo.setPosition(transferServo_out);
+            }
 
             shooter.update();
 

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

@@ -9,11 +9,11 @@ import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
 @TeleOp
 public class ConfigureColorRangefinder extends LinearOpMode {
 
-    public static int LED_Brightness = 35; //1 - 35, 2 - 50,
+    public static int LED_Brightness = 50;
 
-    public static int lowerGreen = 90;
+    public static int lowerGreen = 100;
 
-    public static int higherGreen = 160;
+    public static int higherGreen = 150;
 
     @Override
     public void runOpMode() throws InterruptedException {

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

@@ -0,0 +1,37 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+@TeleOp
+@Config
+public class PositionalServoProgrammer extends LinearOpMode {
+    Robot robot;
+    public static double spindexPos = 0.501;
+    public static double turretPos = 0.501;
+    public static double transferPos = 0.501;
+    public static double hoodPos = 0.501;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()){
+            if (spindexPos != 0.501){
+                robot.spin1.setPosition(spindexPos);
+                robot.spin2.setPosition(1-spindexPos);
+            }
+            if (turretPos != 0.501){
+                robot.turr1.setPosition(turretPos);
+                robot.turr2.setPosition(1-turretPos);
+            }
+            if (transferPos != 0.501){
+                robot.transferServo.setPosition(transferPos);
+            }
+            if (hoodPos != 0.501){
+                robot.hood.setPosition(hoodPos);
+            }
+        }
+    }
+}