Merge branch 'master' into danielv5

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="60"
+    android:versionCode="61"
-          android:versionName="11.0">
+          android:versionName="11.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java

@@ -92,24 +92,22 @@ public class ConceptAprilTag extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
+        while (opModeIsActive()) {
-            while (opModeIsActive()) {
 
-                telemetryAprilTag();
+            telemetryAprilTag();
 
-                // Push telemetry to the Driver Station.
+            // Push telemetry to the Driver Station.
-                telemetry.update();
+            telemetry.update();
 
-                // Save CPU resources; can resume streaming when needed.
+            // Save CPU resources; can resume streaming when needed.
-                if (gamepad1.dpad_down) {
+            if (gamepad1.dpad_down) {
-                    visionPortal.stopStreaming();
+                visionPortal.stopStreaming();
-                } else if (gamepad1.dpad_up) {
+            } else if (gamepad1.dpad_up) {
-                    visionPortal.resumeStreaming();
+                visionPortal.resumeStreaming();
-                }
-
-                // Share the CPU.
-                sleep(20);
             }
+
+            // Share the CPU.
+            sleep(20);
         }
 
         // Save more CPU resources when camera is no longer needed.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java

@@ -88,24 +88,22 @@ public class ConceptAprilTagEasy extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
+        while (opModeIsActive()) {
-            while (opModeIsActive()) {
 
-                telemetryAprilTag();
+            telemetryAprilTag();
 
-                // Push telemetry to the Driver Station.
+            // Push telemetry to the Driver Station.
-                telemetry.update();
+            telemetry.update();
 
-                // Save CPU resources; can resume streaming when needed.
+            // Save CPU resources; can resume streaming when needed.
-                if (gamepad1.dpad_down) {
+            if (gamepad1.dpad_down) {
-                    visionPortal.stopStreaming();
+                visionPortal.stopStreaming();
-                } else if (gamepad1.dpad_up) {
+            } else if (gamepad1.dpad_up) {
-                    visionPortal.resumeStreaming();
+                visionPortal.resumeStreaming();
-                }
-
-                // Share the CPU.
-                sleep(20);
             }
+
+            // Share the CPU.
+            sleep(20);
         }
 
         // Save more CPU resources when camera is no longer needed.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagSwitchableCameras.java

@@ -81,27 +81,25 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
+        while (opModeIsActive()) {
-            while (opModeIsActive()) {
 
-                telemetryCameraSwitching();
+            telemetryCameraSwitching();
-                telemetryAprilTag();
+            telemetryAprilTag();
 
-                // Push telemetry to the Driver Station.
+            // Push telemetry to the Driver Station.
-                telemetry.update();
+            telemetry.update();
 
-                // Save CPU resources; can resume streaming when needed.
+            // Save CPU resources; can resume streaming when needed.
-                if (gamepad1.dpad_down) {
+            if (gamepad1.dpad_down) {
-                    visionPortal.stopStreaming();
+                visionPortal.stopStreaming();
-                } else if (gamepad1.dpad_up) {
+            } else if (gamepad1.dpad_up) {
-                    visionPortal.resumeStreaming();
+                visionPortal.resumeStreaming();
-                }
-
-                doCameraSwitching();
-
-                // Share the CPU.
-                sleep(20);
             }
+
+            doCameraSwitching();
+
+            // Share the CPU.
+            sleep(20);
         }
 
         // Save more CPU resources when camera is no longer needed.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadEdgeDetection.java

@@ -83,6 +83,22 @@ public class ConceptGamepadEdgeDetection extends LinearOpMode {
         telemetry.addData("Gamepad 1 Right Bumper Released", gamepad1.rightBumperWasReleased());
         telemetry.addData("Gamepad 1 Right Bumper Status", gamepad1.right_bumper);
 
+        // Add an empty line to separate the buttons in telemetry
+        telemetry.addLine();
+
+        // Add the status of the Gamepad 1 Left trigger
+        telemetry.addData("Gamepad 1 Left Trigger Pressed", gamepad1.leftTriggerWasPressed());
+        telemetry.addData("Gamepad 1 Left Trigger Released", gamepad1.leftTriggerWasReleased());
+        telemetry.addData("Gamepad 1 Left Trigger Status", gamepad1.left_trigger_pressed);
+
+        // Add an empty line to separate the buttons in telemetry
+        telemetry.addLine();
+
+        // Add the status of the Gamepad 1 Right trigger
+        telemetry.addData("Gamepad 1 Right Trigger Pressed", gamepad1.rightTriggerWasPressed());
+        telemetry.addData("Gamepad 1 Right Trigger Released", gamepad1.rightTriggerWasReleased());
+        telemetry.addData("Gamepad 1 Right Trigger Status", gamepad1.right_trigger_pressed);
+
         // Add a note that the telemetry is only updated every 2 seconds
         telemetry.addLine("\nTelemetry is updated every 2 seconds.");
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/externalhardware/ConceptExternalHardwareClass.java

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.robotcontroller.external.samples;
+package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
 
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/externalhardware/RobotHardware.java

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.robotcontroller.external.samples;
+package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;

README.md

@@ -59,6 +59,21 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
 
 # Release Information
 
+## Version 11.1 (20251231-104637)
+
+### Enhancements
+
+* Gamepad triggers can now be accessed as booleans and have edge detection supported.
+* GoBildaPinpointDriver now supports Pinpoint v2 functionality
+* Adds webcam calibrations for goBILDA's USB camera.
+
+### Bug Fixes
+* Fixes issue [1654](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1654) in GoBildaPinpointDriver that caused error if resolution was set in other than MM
+* Fixes issue [1628](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1628) Blocks editor displays incorrect Java code for gamepad edge detection blocks.
+* Fixes possible race condition issue [1884](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1884) on Driver Station startup when Driver Station name doesn't match the Robot Controller name.
+* Fixes issue [1863](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1863) - Incorrect package paths in samples.
+* Fixes an issue where an OnBotJava filename that begins with a lowercase character would fail to properly rename the file if the user tried to rename it so that it begins with an uppercase character.
+
 ## Version 11.0 (20250827-105138)
 
 ### Enhancements

TeamCode/build.gradle

@@ -12,8 +12,25 @@
 // Custom definitions may go here
 
 // Include common definitions from above.
+
+buildscript {
+    repositories {
+        mavenCentral()
+        maven {
+            url "https://repo.dairy.foundation/releases"
+        }
+    }
+    dependencies {
+        classpath "dev.frozenmilk:Load:0.2.4"
+    }
+}
+
+
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
+// there should be 2 or 3 more lines that start with 'apply plugin:' here
+apply plugin: 'dev.frozenmilk.sinister.sloth.load'
+
 
 android {
     namespace = 'org.firstinspires.ftc.teamcode'
@@ -28,14 +45,32 @@ repositories {
     maven {
         url = 'https://maven.brott.dev/'
     }
+    // Dairy releases repository
+    maven {
+        url = "https://repo.dairy.foundation/releases"
+    }
+    // Dairy snapshots repository
+    maven {
+        url = "https://repo.dairy.foundation/snapshots"
+    }
 }
 
 dependencies {
     implementation project(':FtcRobotController')
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
+    implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
-    implementation "com.acmerobotics.roadrunner:core:1.0.1"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
-    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
     implementation 'org.ftclib.ftclib:core:2.1.1' // core
+    implementation("com.acmerobotics.roadrunner:ftc:0.1.25") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+    implementation("com.acmerobotics.roadrunner:actions:1.0.1") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+    implementation("com.acmerobotics.roadrunner:core:1.0.1") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+
+    implementation("com.acmerobotics.slothboard:dashboard:0.2.4+0.5.1") //Slothdashboard
+
 
 }
+

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

@@ -6,6 +6,11 @@ import com.acmerobotics.dashboard.config.Config;
 public class Color {
     public static boolean redAlliance = true;
     public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
+    public static double LightGreen = 0.5;
+    public static double LightPurple = 0.715;
+    public static double LightOrange = 0.33;
+    public static double LightRed = 0.28;
+    public static double LightBlue = 0.6;
 
     public static double colorFilterAlpha = 1;
 }

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

@@ -1,10 +1,19 @@
 package org.firstinspires.ftc.teamcode.constants;
 
-public class Types {
+public class StateEnums {
     public enum Motif {
         NONE,
         GPP,  // Green, Purple, Purple
         PGP,  // Purple, Green, Purple
         PPG   // Purple, Purple, Green
     }
+
+    public enum LightState {
+        BALL_COUNT,
+        BALL_COLOR,
+        GOAL_LOCK,
+        MANUAL,
+        DISABLED,
+        OFF
+    }
 }

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

@@ -16,9 +16,12 @@ import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Drivetrain;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
 import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -48,6 +51,7 @@ public class TeleopV3 extends LinearOpMode {
     boolean fixedTurret = false;
     Robot robot;
     MultipleTelemetry TELE;
+    Light light;
     Servos servo;
     Flywheel flywheel;
     MecanumDrive drive;
@@ -65,7 +69,6 @@ public class TeleopV3 extends LinearOpMode {
     double headingOffset = 0.0;
     int ticker = 0;
 
-
     boolean autoSpintake = false;
     boolean enableSpindexerManager = true;
 
@@ -102,6 +105,11 @@ public class TeleopV3 extends LinearOpMode {
         tController.setTolerance(0.001);
 
         Turret turret = new Turret(robot, TELE, robot.limelight);
+
+        light = Light.getInstance();
+        light.init(robot.light, spindexer, turret);
+
+        light.setState(StateEnums.LightState.MANUAL);
         limelightUsed = true;
 
         robot.light.setPosition(1);
@@ -109,11 +117,18 @@ public class TeleopV3 extends LinearOpMode {
             robot.limelight.start();
             if (redAlliance) {
                 robot.limelight.pipelineSwitch(4);
+                light.setManualLightColor(Color.LightRed);
             } else {
                 robot.limelight.pipelineSwitch(2);
+                light.setManualLightColor(Color.LightBlue);
+
             }
+
+            light.update();
         }
 
+        limelightUsed = true;
+
         waitForStart();
         if (isStopRequested()) return;
 
@@ -124,9 +139,6 @@ public class TeleopV3 extends LinearOpMode {
 
             //TELE.addData("Is limelight on?", robot.limelight.getStatus());
 
-            // LIGHT COLORS
-            spindexer.ballCounterLight();
-
             //DRIVETRAIN:
 
             drivetrain.drive(
@@ -137,9 +149,17 @@ public class TeleopV3 extends LinearOpMode {
             );
 
             if (gamepad1.right_bumper) {
+
                 shootAll = false;
                 servo.setTransferPos(transferServo_out);
 
+                light.setState(StateEnums.LightState.BALL_COUNT);
+
+            } else if (gamepad2.triangle){
+                light.setState(StateEnums.LightState.BALL_COLOR);
+
+            }  else {
+                light.setState(StateEnums.LightState.GOAL_LOCK);
             }
 
             //TURRET TRACKING
@@ -230,6 +250,8 @@ public class TeleopV3 extends LinearOpMode {
                 drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
             }
 
+
+
             if (enableSpindexerManager) {
                 //if (!shootAll) {
                 spindexer.processIntake();
@@ -321,16 +343,16 @@ public class TeleopV3 extends LinearOpMode {
 //
 //            TELE.addData("shootall commanded", shootAll);
             // Targeting Debug
-//            TELE.addData("robotX", robotX);
+            TELE.addData("robotX", robotX);
-//            TELE.addData("robotY", robotY);
+            TELE.addData("robotY", robotY);
-//            TELE.addData("robotInchesX", targeting.robotInchesX);
+            TELE.addData("robotInchesX", targeting.robotInchesX);
-//            TELE.addData( "robotInchesY", targeting.robotInchesY);
+            TELE.addData("robotInchesY", targeting.robotInchesY);
-//            TELE.addData("Targeting Interpolate", turretInterpolate);
+            TELE.addData("Targeting Interpolate", turretInterpolate);
-//            TELE.addData("Targeting GridX", targeting.robotGridX);
+            TELE.addData("Targeting GridX", targeting.robotGridX);
-//            TELE.addData("Targeting GridY", targeting.robotGridY);
+            TELE.addData("Targeting GridY", targeting.robotGridY);
-//            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
-//            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
+            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
             TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
             TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
             TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
@@ -338,6 +360,8 @@ public class TeleopV3 extends LinearOpMode {
 
             TELE.update();
 
+            light.update();
+
             ticker++;
         }
     }

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

@@ -0,0 +1,108 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.StateEnums.LightState;
+
+
+@Config
+public final class Light {
+
+    private static Light instance;
+    public static  double ballColorCycleTime = 1000; //in ms
+    public static double restingTime = 150; //in ms
+
+    private Servo lightServo;
+    private LightState state = LightState.DISABLED;
+
+    // References to other systems (NOT static)
+    private Spindexer spindexer;
+    private Turret turret;
+    private double manualLightColor = Color.Light0;
+
+    private double lightColor = Color.Light0;
+    private double previousLightColor = lightColor;
+
+    private Light() {
+    }
+
+    public static synchronized Light getInstance() {
+        if (instance == null) {
+            instance = new Light();
+        }
+        return instance;
+    }
+
+    // Call once in OpMode init()
+    public void init(
+            Servo servo,
+            Spindexer spin,
+            Turret turr
+    ) {
+        this.lightServo = servo;
+        this.spindexer = spin;
+        this.turret = turr;
+    }
+
+    public void setManualLightColor(double value) {
+        this.manualLightColor = value;
+    }
+
+    public void setState(LightState newState) {
+        state = newState;
+    }
+
+    public void update() {
+        if (lightServo == null) return;
+
+        switch (state) {
+
+            case BALL_COUNT:
+                lightColor = spindexer.ballCounterLight();
+                break;
+
+            case BALL_COLOR:
+
+                if ((System.currentTimeMillis() % ballColorCycleTime) < ((ballColorCycleTime / 3) - restingTime)) {
+                    lightColor = spindexer.getRearCenterLight();
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime / 3)) {
+                    lightColor = 0;
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < ((2 * ballColorCycleTime / 3) - restingTime)) {
+                    lightColor = spindexer.getDriverLight();
+
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (2 * ballColorCycleTime / 3)) {
+                    lightColor = 0;
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime - restingTime)) {
+                    lightColor = spindexer.getPassengerLight();
+
+                } else {
+                    lightColor = 0;
+                }
+                break;
+
+            case GOAL_LOCK:
+                lightColor = turret.getLightColor();
+                break;
+
+            case MANUAL:
+                lightColor = manualLightColor;
+                break;
+
+            case DISABLED:
+                break;
+
+            case OFF:
+                lightColor = 0;
+                break;
+        }
+
+        if (lightColor != previousLightColor) {
+            lightServo.setPosition(lightColor);
+        }
+
+        previousLightColor = lightColor;
+
+    }
+}

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

@@ -22,9 +22,11 @@ import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.constants.Types;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
+import java.util.Objects;
+
 public class Spindexer {
 
     Robot robot;
@@ -50,7 +52,7 @@ public class Spindexer {
     private double prevPos = 0.0;
     public double spindexerPosOffset = 0.00;
     public static int shootWaitMax = 4;
-    public Types.Motif desiredMotif = Types.Motif.NONE;
+    public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
         REARCENTER,
@@ -284,35 +286,65 @@ public class Spindexer {
 
     }
 
-    private double prevLight = 0.0;
+    public double getRearCenterLight() {
-    public void ballCounterLight(){
+        BallColor color = GetRearCenterColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+
+
+    public double getDriverLight() {
+        BallColor color = GetFrontDriverColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+
+    public double getPassengerLight() {
+        BallColor color = GetFrontPassengerColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+    public double ballCounterLight() {
         int counter = 0;
-        if (!ballPositions[0].isEmpty){
+        if (!ballPositions[0].isEmpty) {
             counter++;
         }
-        if (!ballPositions[1].isEmpty){
+        if (!ballPositions[1].isEmpty) {
             counter++;
         }
-        if (!ballPositions[2].isEmpty){
+        if (!ballPositions[2].isEmpty) {
             counter++;
         }
 
-        double light;
+        if (counter == 3) {
-        if (counter == 3){
+            return Light3;
-            light = Light3;
+        } else if (counter == 2) {
-        } else if (counter == 2){
+            return Light2;
-            light = Light2;
+        } else if (counter == 1) {
-        } else if (counter == 1){
+            return Light1;
-            light = Light1;
         } else {
-            light = Light0;
+            return Light0;
         }
-        if (light != prevLight){
-            robot.light.setPosition(light);
-        }
-        prevLight = light;
     }
 
+
+
+
     public boolean slotIsEmpty(int slot){
         return !ballPositions[slot].isEmpty;
     }
@@ -531,7 +563,7 @@ public class Spindexer {
         return false;
     }
 
-    public void setDesiredMotif (Types.Motif newMotif) {
+    public void setDesiredMotif (StateEnums.Motif newMotif) {
         desiredMotif = newMotif;
     }
 

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

@@ -9,11 +9,11 @@ import com.arcrobotics.ftclib.controller.PIDController;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+import org.firstinspires.ftc.teamcode.constants.Color;
 
 import java.util.List;
 
@@ -53,6 +53,7 @@ public class Turret {
     private int obeliskID = 0;
     private double offset = 0.0;
     private double currentTrackOffset = 0.0;
+    private double lightColor = Color.LightRed;
     private int currentTrackCount = 0;
     private double permanentOffset = 0.0;
     private PIDController bearingPID;
@@ -67,6 +68,10 @@ public class Turret {
         bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
     }
 
+    public double getLightColor() {
+        return lightColor;
+    }
+
     public void zeroTurretEncoder() {
         robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
@@ -161,11 +166,17 @@ public class Turret {
         // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
         final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
         final double DRIVE_POWER_REDUCTION = 2.0;
+        final double COLOR_OK_TOLERANCE = 2.5;
 
         if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
             bearingAligned = true;
-        } else {
+            lightColor = Color.LightBlue;
+        } else if (abs(targetTx) < COLOR_OK_TOLERANCE) {
             bearingAligned = false;
+            lightColor = Color.LightPurple;
+        }  else {
+            bearingAligned = false;
+            lightColor = Color.LightOrange;
         }
 
         // Only with valid data and if too far off target
@@ -254,6 +265,7 @@ public class Turret {
 //            if (currentTrackCount > 20) {
 //                offset = currentTrackOffset;
 //            }
+            lightColor = Color.LightRed;
             currentTrackOffset = 0.0;
             currentTrackCount = 0;
         }

build.dependencies.gradle

@@ -6,30 +6,26 @@ repositories {
     maven { url = 'https://maven.brott.dev/' } //RR
     maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
     maven { url = "https://repo.dairy.foundation/releases" } //AS
+
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:11.0.0'
+    implementation 'org.firstinspires.ftc:Inspection:11.1.0'
-    implementation 'org.firstinspires.ftc:Blocks:11.0.0'
+    implementation 'org.firstinspires.ftc:Blocks:11.1.0'
-    implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
+    //noinspection Aligned16KB
-    implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
+    implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
+    implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
-    implementation 'org.firstinspires.ftc:Hardware:11.0.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
+    implementation 'org.firstinspires.ftc:Hardware:11.1.0'
-    implementation 'org.firstinspires.ftc:Vision:11.0.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:11.1.0'
+    implementation 'org.firstinspires.ftc:Vision:11.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
 
-
+    implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
-    implementation 'com.pedropathing:ftc:2.0.1' //PedroCore
+    implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
-    implementation 'com.pedropathing:telemetry:0.0.6' //PedroTele
-
     implementation 'com.bylazar:fullpanels:1.0.2' //Panels
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
-    implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
-    implementation "com.acmerobotics.dashboard:dashboard:0.5.1" //FTC Dash
 
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
 
@@ -40,11 +36,5 @@ dependencies {
     implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
 
 
-
-
-
-
-
-
 }