From f7a9f6aaf5b80dc64c1e753f30c4b4fa8de1cb91 Mon Sep 17 00:00:00 2001
From: DanTheMan-byte <danibarrf@gmail.com>
Date: Fri, 5 Jun 2026 14:29:21 -0500
Subject: [PATCH] small tweaks: added current pose telemetry and reduced
 coasting from limelight track

---
 .../java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java   | 3 +++
 .../java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java    | 3 +--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
index 298c802..7b942f9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
@@ -91,6 +91,7 @@ public class TeleopV4 extends LinearOpMode {
             }
 
             follower.update();
+            Pose currentPose = follower.getPose();
 
             if (gamepad1.dpadLeftWasPressed()){
                 shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
@@ -158,6 +159,8 @@ public class TeleopV4 extends LinearOpMode {
             TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
             TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
 
+            TELE.addData("Current Position", currentPose);
+
             TELE.update();
         }
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
index 9ee6419..f239aac 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
 import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.controller.PIDController;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
@@ -25,7 +24,7 @@ public class Turret {
     LLResult result;
     PIDController bearingPID;
     boolean bearingAligned = false;
-    public int LL_COAST_TICKS = 60;
+    public int LL_COAST_TICKS = 5;
     public static double TARGET_POSITION_TOLERANCE = 0.5;
     public static double alphaTX = 0.5;
     private double targetTx = 0;