Update TelopV3 and Targeting for merge conflicts.

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/TurretTest.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoClose_V3.java

@@ -1,9 +1,9 @@
 package org.firstinspires.ftc.teamcode.autonomous;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
 import static org.firstinspires.ftc.teamcode.constants.Poses.*;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
 import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
 
 import androidx.annotation.NonNull;
 
@@ -11,219 +11,140 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
 import com.acmerobotics.roadrunner.ParallelAction;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
 
 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.FlywheelV2;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.List;
 
 @Config
-@Autonomous
-public class Blue_V2 extends LinearOpMode {
-
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoClose_V3 extends LinearOpMode {
     Robot robot;
-
     MultipleTelemetry TELE;
-
     MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
 
-    AprilTagWebcam aprilTag;
-
-    public static double intake1Time = 4.0;
-
-    public static double intake2Time = 5.5;
-
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
     public static double colorDetect = 3.0;
-
     boolean gpp = false;
-
     boolean pgp = false;
-
     boolean ppg = false;
-
     double powPID = 0.0;
-
+    double bearing = 0.0;
     int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
-
     int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
-
     int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-
-    boolean spindexPosEqual(double spindexer) {
-        TELE.addLine("spindex equal");
-        TELE.update();
-        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
-                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
-    }
+    public static double holdTurrPow = 0.1; // power to hold turret in place
 
     public Action initShooter(int vel) {
         return new Action() {
-            double velo = 0.0;
-            double initPos = 0.0;
-            double stamp = 0.0;
-            double stamp1 = 0.0;
-            double ticker = 0.0;
-            double stamp2 = 0.0;
-            double currentPos = 0.0;
-            boolean steady = false;
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp2 = getRuntime();
-                }
-
-                ticker++;
-                if (ticker % 16 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500) {
-                    powPID = 1.0;
-                } else {
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
-                robot.transfer.setPower(1);
-
-                TELE.addData("Velocity", velo);
-                TELE.update();
-                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
-                    steady = true;
-                    stamp2 = getRuntime();
-                    return true;
-                } else if (steady && getRuntime() - stamp2 > 1.5){
-                    TELE.addLine("finished init");
-                    TELE.update();
-                    return false;
-                } else {
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action steadyShooter(int vel, boolean last) {
-        return new Action() {
-            double velo = 0.0;
-            double initPos = 0.0;
-            double stamp = 0.0;
-            double stamp1 = 0.0;
-            double ticker = 0.0;
-            double stamp2 = 0.0;
-            double currentPos = 0.0;
-            boolean steady = false;
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp2 = getRuntime();
-                }
-
-                ticker++;
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500){
-                    powPID = 0.0;
-                } else {
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-                robot.transfer.setPower(1);
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
 
-                if (Math.abs(vel - velo) < 100 && last && !steady){
-                    stamp = getRuntime();
-                    steady = true;
-                    return false;
-                } else if (steady && getRuntime() - stamp > 1.0) {
-                    stamp = getRuntime();
-                    return true;
-                } else {
-                    return true;
-                }
+                return !flywheel.getSteady();
             }
         };
     }
 
     public Action Obelisk() {
         return new Action() {
-            double stamp = getRuntime();
-            int ticker = 0;
-
+            int id = 0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = getRuntime();
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
+                        TELE.update();
                     }
-                ticker++;
 
-                if (aprilTag.getTagById(21) != null) {
+                }
+
+                if (id == 21){
                     gpp = true;
-                } else if (aprilTag.getTagById(22) != null) {
+                } else if (id == 22){
                     pgp = true;
-                } else if (aprilTag.getTagById(23) != null) {
+                } else if (id == 23){
                     ppg = true;
                 }
-                aprilTag.update();
 
+                TELE.addData("Velocity", velo);
                 TELE.addData("21", gpp);
                 TELE.addData("22", pgp);
                 TELE.addData("23", ppg);
                 TELE.update();
 
-                if (gpp || pgp || ppg){
-                    robot.turr1.setPosition(turret_blue);
-                    robot.turr2.setPosition(1 - turret_blue);
+                if (gpp || pgp || ppg) {
+                    if (redAlliance){
+                        robot.limelight.pipelineSwitch(3);
+                        double turretPID = turret_redClose;
+                        robot.turr1.setPosition(turretPID);
+                        robot.turr2.setPosition(-turretPID);
+                        return false;
+
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+                        double turretPID = turret_blueClose;
+                        robot.turr1.setPosition(turretPID);
+                        robot.turr2.setPosition(-turretPID);
+                        return false;
+                    }
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
                     return false;
                 } else {
                     return true;
@@ -232,103 +153,27 @@ public class Blue_V2 extends LinearOpMode {
         };
     }
 
-    public Action spindex (double spindexer, double vel){
-        return new Action() {
-            double currentPos = 0.0;
-            double stamp = 0.0;
-            double velo = 0.0;
-            double initPos = 0.0;
-            double stamp1 = 0.0;
-            int ticker = 0;
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                ticker++;
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500 && ticker > 16) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500 && ticker > 16){
-                    powPID = 0.0;
-                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-                robot.spin1.setPosition(spindexer);
-                robot.spin2.setPosition(1-spindexer);
-                TELE.addLine("spindex");
-                TELE.update();
-                return !spindexPosEqual(spindexer);
-            }
-        };
-    }
-
-    public Action Shoot(double vel) {
+    public Action Shoot(int vel) {
         return new Action() {
             double transferStamp = 0.0;
             int ticker = 1;
             boolean transferIn = false;
-            double currentPos = 0.0;
-            double stamp = 0.0;
-            double velo = 0.0;
-            double initPos = 0.0;
-            double stamp1 = 0.0;
+
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
                 TELE.addLine("shooting");
                 TELE.update();
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500 && ticker > 16) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500 && ticker > 16){
-                    powPID = 0.0;
-                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
 
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
 
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
 
                 if (ticker == 1) {
                     transferStamp = getRuntime();
@@ -336,12 +181,16 @@ public class Blue_V2 extends LinearOpMode {
                 }
                 if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
                     robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
                     TELE.addData("ticker", ticker);
                     TELE.update();
                     transferIn = true;
                     return true;
-                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
                     robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr2.setPosition(holdTurrPow);
+                    TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
                     return false;
@@ -355,9 +204,10 @@ public class Blue_V2 extends LinearOpMode {
 
     public Action intake(double intakeTime) {
         return new Action() {
-            double position = 0.0;
+            double position = spindexer_intakePos1;
             double stamp = 0.0;
             int ticker = 0;
+            double pow = 1.0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -366,25 +216,58 @@ public class Blue_V2 extends LinearOpMode {
                 }
                 ticker++;
 
+                robot.intake.setPower(pow);
+
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
-                if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.02;
-                } else {
-                    position = spindexer_intakePos1 - 0.02;
+                if (!servo.spinEqual(position)){
+                    double spinPID = servo.setSpinPos(position);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
                 }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
 
+                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
+                }
+
+                TELE.addData("Velocity", velo);
                 TELE.addLine("Intaking");
                 TELE.update();
 
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
                 robot.intake.setPower(1);
-                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    if (getRuntime() - stamp - intakeTime < 1){
+                        pow = -2*(getRuntime() - stamp - intakeTime);
+                        return true;
+                    } else {
                         robot.intake.setPower(0);
                         return false;
+                    }
                 } else {
                     return true;
                 }
@@ -392,11 +275,10 @@ public class Blue_V2 extends LinearOpMode {
         };
     }
 
-    public Action ColorDetect() {
+    public Action ColorDetect(int vel) {
         return new Action() {
             double stamp = 0.0;
             int ticker = 0;
-            double position = 0.0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 if (ticker == 0) {
@@ -404,19 +286,20 @@ public class Blue_V2 extends LinearOpMode {
                 }
                 ticker++;
 
-                if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.02;
-                } else {
-                    position = spindexer_intakePos1 - 0.02;
-                }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
-                if (s1D < 40) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
 
                     double green = robot.color1.getNormalizedColors().green;
                     double red = robot.color1.getNormalizedColors().red;
@@ -424,8 +307,6 @@ public class Blue_V2 extends LinearOpMode {
 
                     double gP = green / (green + red + blue);
 
-
-
                     if (gP >= 0.4) {
                         b1 = 2;
                     } else {
@@ -433,7 +314,7 @@ public class Blue_V2 extends LinearOpMode {
                     }
                 }
 
-                if (s2D < 40) {
+                if (s2D < 60) {
 
                     double green = robot.color2.getNormalizedColors().green;
                     double red = robot.color2.getNormalizedColors().red;
@@ -448,7 +329,7 @@ public class Blue_V2 extends LinearOpMode {
                     }
                 }
 
-                if (s3D < 30) {
+                if (s3D < 33) {
 
                     double green = robot.color3.getNormalizedColors().green;
                     double red = robot.color3.getNormalizedColors().red;
@@ -463,6 +344,7 @@ public class Blue_V2 extends LinearOpMode {
                     }
                 }
 
+                TELE.addData("Velocity", velo);
                 TELE.addLine("Detecting");
                 TELE.addData("Distance 1", s1D);
                 TELE.addData("Distance 2", s2D);
@@ -482,6 +364,8 @@ public class Blue_V2 extends LinearOpMode {
 
         robot = new Robot(hardwareMap);
 
+        flywheel = new FlywheelV2();
+
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
@@ -490,12 +374,13 @@ public class Blue_V2 extends LinearOpMode {
                 0, 0, 0
         ));
 
-        aprilTag = new AprilTagWebcam();
+        robot.limelight.pipelineSwitch(1);
+        robot.limelight.start();
 
         TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
-        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, by1, bh1))
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                 .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
                 .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
 
@@ -503,38 +388,78 @@ public class Blue_V2 extends LinearOpMode {
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
         TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-
                 .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
-
                 .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
 
         TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
-        aprilTag.init(robot, TELE);
-
         while (opModeInInit()) {
 
             if (gamepad2.dpadUpWasPressed()) {
-                hoodDefault -= 0.01;
+                hoodAuto -= 0.01;
             }
 
             if (gamepad2.dpadDownWasPressed()) {
-                hoodDefault += 0.01;
+                hoodAuto += 0.01;
             }
 
-            robot.hood.setPosition(hoodDefault);
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
 
-            robot.turr1.setPosition(turret_detectBlue);
-            robot.turr2.setPosition(1 - turret_detectBlue);
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = turret_detectRedClose;
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
+                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
+
+                shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
+
+                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+            } else {
+                turrPID = turret_detectBlueClose;
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+                shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+            }
+
+            robot.turr1.setPosition(turrPID);
+            robot.turr2.setPosition(-turrPID);
+
+            robot.hood.setPosition(hoodAuto);
 
             robot.transferServo.setPosition(transferServo_out);
 
-            robot.spin1.setPosition(spindexer_intakePos1);
-            robot.spin2.setPosition(1 - spindexer_intakePos1);
-
-            aprilTag.update();
-
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
             TELE.update();
         }
 
@@ -544,8 +469,6 @@ public class Blue_V2 extends LinearOpMode {
 
         if (opModeIsActive()) {
 
-            robot.hood.setPosition(hoodStart);
-
             Actions.runBlocking(
                     new ParallelAction(
                             shoot0.build(),
@@ -553,13 +476,19 @@ public class Blue_V2 extends LinearOpMode {
                             Obelisk()
                     )
             );
+            drive.updatePoseEstimate();
 
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
 
             shootingSequence();
 
-            robot.hood.setPosition(hoodDefault);
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
@@ -567,46 +496,60 @@ public class Blue_V2 extends LinearOpMode {
                             intake(intake1Time)
                     )
             );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
                             shoot1.build(),
-                            ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
+                            ColorDetect(AUTO_CLOSE_VEL)
                     )
             );
 
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
 
             shootingSequence();
 
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
             Actions.runBlocking(
                     new ParallelAction(
                             pickup2.build(),
                             intake(intake2Time)
                     )
             );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
                             shoot2.build(),
-                            ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
+                            ColorDetect(AUTO_CLOSE_VEL)
                     )
             );
 
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
+            robot.transfer.setPower(1);
 
             shootingSequence();
 
+            robot.transfer.setPower(0);
+
             drive.updatePoseEstimate();
 
             teleStart = drive.localizer.getPose();
 
+            TELE.addData("Velocity", velo);
             TELE.addLine("finished");
-
             TELE.update();
 
             sleep(2000);
@@ -614,8 +557,22 @@ public class Blue_V2 extends LinearOpMode {
         }
 
     }
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        LLResult result = robot.limelight.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                bearing = result.getTx();
+            }
+        }
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = turretPos;
+        robot.turr1.setPosition(turretPID);
+        robot.turr2.setPosition(-turretPID);
+    }
 
     public void shootingSequence() {
+        TELE.addData("Velocity", velo);
         if (gpp) {
             if (b1 + b2 + b3 == 4) {
                 if (b1 == 2 && b2 - b3 == 0) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoFar_V1.java

@@ -1,9 +1,9 @@
 package org.firstinspires.ftc.teamcode.autonomous;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
 import static org.firstinspires.ftc.teamcode.constants.Poses.*;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
 import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
 
 import androidx.annotation.NonNull;
 
@@ -11,159 +11,88 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
 import com.acmerobotics.roadrunner.ParallelAction;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.List;
 
 @Config
-@Autonomous
-public class Red_V2 extends LinearOpMode {
-
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoFar_V1 extends LinearOpMode {
     Robot robot;
-
     MultipleTelemetry TELE;
-
     MecanumDrive drive;
-
-    AprilTagWebcam aprilTag;
-
-    Flywheel flywheel;
+    FlywheelV2 flywheel;
+    Servos servo;
 
     double velo = 0.0;
-    double targetVelocity = 0.0;
-    public static double intake1Time = 6.5;
-
-    public static double intake2Time = 6.5;
-
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
     public static double colorDetect = 3.0;
-
     boolean gpp = false;
-
     boolean pgp = false;
-
     boolean ppg = false;
-
     double powPID = 0.0;
-
+    double bearing = 0.0;
     int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
-
     int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
-
     int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-
-    boolean spindexPosEqual(double spindexer) {
-        TELE.addData("Velocity", velo);
-        TELE.addLine("spindex equal");
-        TELE.update();
-        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
-                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
-    }
+    public static double holdTurrPow = 0.1; // power to hold turret in place
 
     public Action initShooter(int vel) {
         return new Action() {
-            double initPos = 0.0;
-            double stamp = 0.0;
-            double stamp1 = 0.0;
-            double ticker = 0.0;
-            double stamp2 = 0.0;
-            double currentPos = 0.0;
-            boolean steady = false;
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp2 = getRuntime();
-                }
-
-                targetVelocity = (double) vel;
-                ticker++;
-                if (ticker % 16 == 0) {
-                    stamp = getRuntime();
-                    stamp1 = stamp;
-                }
-
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
-                velo = flywheel.getVelo();
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
-                robot.transfer.setPower(1);
-
-                TELE.addData("Velocity", velo);
-                TELE.update();
-                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
-                    steady = true;
-                    stamp2 = getRuntime();
-                    return true;
-                } else if (steady && getRuntime() - stamp2 > 1.5){
-                    TELE.addData("Velocity", velo);
-                    TELE.addLine("finished init");
-                    TELE.update();
-                    return false;
-                } else {
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action steadyShooter(int vel, boolean last) {
-        return new Action() {
-            double stamp = 0.0;
-            boolean steady = false;
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
-                velo = flywheel.getVelo();
-                steady = flywheel.getSteady();
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-                robot.transfer.setPower(1);
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
 
-                if (last && !steady){
-                    stamp = getRuntime();
-                    return false;
-                } else if (steady) {
-                    stamp = getRuntime();
-                    return true;
-                } else {
-                    return true;
-                }
+                return !flywheel.getSteady();
             }
         };
     }
 
     public Action Obelisk() {
         return new Action() {
-            double stamp = getRuntime();
-            int ticker = 0;
-
+            int id = 0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = getRuntime();
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
+                        TELE.update();
                     }
-                ticker++;
 
-                if (aprilTag.getTagById(21) != null) {
+                }
+
+                if (id == 21){
                     gpp = true;
-                } else if (aprilTag.getTagById(22) != null) {
+                } else if (id == 22){
                     pgp = true;
-                } else if (aprilTag.getTagById(23) != null) {
+                } else if (id == 23){
                     ppg = true;
                 }
-                aprilTag.update();
 
                 TELE.addData("Velocity", velo);
                 TELE.addData("21", gpp);
@@ -171,9 +100,20 @@ public class Red_V2 extends LinearOpMode {
                 TELE.addData("23", ppg);
                 TELE.update();
 
-                if (gpp || pgp || ppg){
-                    robot.turr1.setPosition(turret_red);
-                    robot.turr2.setPosition(1 - turret_red);
+                if (gpp || pgp || ppg) {
+                    if (redAlliance){
+                        robot.limelight.pipelineSwitch(3);
+                        robot.turr1.setPosition(turret_redFar);
+                        robot.turr2.setPosition(-turret_redFar);
+
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+
+                        robot.turr1.setPosition(turret_blueFar);
+                        robot.turr2.setPosition(-turret_blueFar);
+
+                    }
+
                     return false;
                 } else {
                     return true;
@@ -182,108 +122,58 @@ public class Red_V2 extends LinearOpMode {
         };
     }
 
-    public Action spindex (double spindexer, double vel){
+    public Action spindex(double spindexer, int vel) {
         return new Action() {
-            double currentPos = 0.0;
-            double stamp = 0.0;
-            double initPos = 0.0;
-            double stamp1 = 0.0;
-            int ticker = 0;
+            double spinPID = 0.0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                ticker++;
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500 && ticker > 16) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500 && ticker > 16){
-                    powPID = 0.0;
-                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
-                velo = flywheel.getVelo();
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
-                robot.spin1.setPosition(spindexer);
-                robot.spin2.setPosition(1-spindexer);
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
-                return !spindexPosEqual(spindexer);
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
             }
         };
     }
 
-    public Action Shoot(double vel) {
+    public Action Shoot(int vel) {
         return new Action() {
             double transferStamp = 0.0;
             int ticker = 1;
             boolean transferIn = false;
-            double currentPos = 0.0;
-            double stamp = 0.0;
-            double initPos = 0.0;
-            double stamp1 = 0.0;
+
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 TELE.addData("Velocity", velo);
                 TELE.addLine("shooting");
                 TELE.update();
 
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500 && ticker > 16) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500 && ticker > 16){
-                    powPID = 0.0;
-                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
-                velo = flywheel.getVelo();
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
 
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
 
                 if (ticker == 1) {
                     transferStamp = getRuntime();
@@ -296,8 +186,10 @@ public class Red_V2 extends LinearOpMode {
                     TELE.update();
                     transferIn = true;
                     return true;
-                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
                     robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr2.setPosition(holdTurrPow);
                     TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
@@ -312,9 +204,10 @@ public class Red_V2 extends LinearOpMode {
 
     public Action intake(double intakeTime) {
         return new Action() {
-            double position = 0.0;
+            double position = spindexer_intakePos1;
             double stamp = 0.0;
             int ticker = 0;
+            double pow = 1.0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -323,26 +216,58 @@ public class Red_V2 extends LinearOpMode {
                 }
                 ticker++;
 
+                robot.intake.setPower(pow);
+
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
-                if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.02;
-                } else {
-                    position = spindexer_intakePos1 - 0.02;
+                if (!servo.spinEqual(position)){
+                    double spinPID = servo.setSpinPos(position);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
+                }
+
+                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
                 }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
 
                 TELE.addData("Velocity", velo);
                 TELE.addLine("Intaking");
                 TELE.update();
 
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
                 robot.intake.setPower(1);
-                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    if (getRuntime() - stamp - intakeTime < 1){
+                        pow = -2*(getRuntime() - stamp - intakeTime);
+                        return true;
+                    } else {
                         robot.intake.setPower(0);
                         return false;
+                    }
                 } else {
                     return true;
                 }
@@ -350,11 +275,10 @@ public class Red_V2 extends LinearOpMode {
         };
     }
 
-    public Action ColorDetect() {
+    public Action ColorDetect(int vel) {
         return new Action() {
             double stamp = 0.0;
             int ticker = 0;
-            double position = 0.0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 if (ticker == 0) {
@@ -362,19 +286,20 @@ public class Red_V2 extends LinearOpMode {
                 }
                 ticker++;
 
-                if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.02;
-                } else {
-                    position = spindexer_intakePos1 - 0.02;
-                }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
-                if (s1D < 40) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
 
                     double green = robot.color1.getNormalizedColors().green;
                     double red = robot.color1.getNormalizedColors().red;
@@ -382,8 +307,6 @@ public class Red_V2 extends LinearOpMode {
 
                     double gP = green / (green + red + blue);
 
-
-
                     if (gP >= 0.4) {
                         b1 = 2;
                     } else {
@@ -391,7 +314,7 @@ public class Red_V2 extends LinearOpMode {
                     }
                 }
 
-                if (s2D < 40) {
+                if (s2D < 60) {
 
                     double green = robot.color2.getNormalizedColors().green;
                     double red = robot.color2.getNormalizedColors().red;
@@ -406,7 +329,7 @@ public class Red_V2 extends LinearOpMode {
                     }
                 }
 
-                if (s3D < 30) {
+                if (s3D < 33) {
 
                     double green = robot.color3.getNormalizedColors().green;
                     double red = robot.color3.getNormalizedColors().red;
@@ -441,7 +364,7 @@ public class Red_V2 extends LinearOpMode {
 
         robot = new Robot(hardwareMap);
 
-        flywheel = new Flywheel();
+        flywheel = new FlywheelV2();
 
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -451,51 +374,46 @@ public class Red_V2 extends LinearOpMode {
                 0, 0, 0
         ));
 
-        aprilTag = new AprilTagWebcam();
+        robot.limelight.pipelineSwitch(1);
+        robot.limelight.start();
 
-        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+        //TODO: add positions to develop auto
         
-        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
-                .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
-
-        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-
-                .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
-
-                .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
-
-        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
-                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-        aprilTag.init(robot, TELE);
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
+                .strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
 
         while (opModeInInit()) {
 
             if (gamepad2.dpadUpWasPressed()) {
-                hoodDefault -= 0.01;
+                hoodAuto -= 0.01;
             }
 
             if (gamepad2.dpadDownWasPressed()) {
-                hoodDefault += 0.01;
+                hoodAuto += 0.01;
             }
 
-            robot.hood.setPosition(hoodDefault);
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
 
-            robot.turr1.setPosition(turret_detectRed);
-            robot.turr2.setPosition(1 - turret_detectRed);
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = turret_detectRedClose;
+            } else {
+                turrPID = turret_detectBlueClose;
+            }
+
+            robot.turr1.setPosition(turrPID);
+            robot.turr2.setPosition(-turrPID);
+
+            robot.hood.setPosition(hoodAutoFar);
 
             robot.transferServo.setPosition(transferServo_out);
 
-            robot.spin1.setPosition(spindexer_intakePos1);
-            robot.spin2.setPosition(1 - spindexer_intakePos1);
-
-            aprilTag.update();
             TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
             TELE.update();
         }
 
@@ -505,68 +423,27 @@ public class Red_V2 extends LinearOpMode {
 
         if (opModeIsActive()) {
 
-            robot.hood.setPosition(hoodStart);
-
             Actions.runBlocking(
                     new ParallelAction(
-                            shoot0.build(),
-                            initShooter(AUTO_CLOSE_VEL),
+                            initShooter(AUTO_FAR_VEL),
                             Obelisk()
                     )
             );
+            drive.updatePoseEstimate();
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
-            velo = flywheel.getVelo();
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
 
             shootingSequence();
 
-            robot.hood.setPosition(hoodDefault);
+            robot.transfer.setPower(0);
 
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup1.build(),
-                            intake(intake1Time)
-                    )
-            );
+            drive.updatePoseEstimate();
 
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot1.build(),
-                            ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
-                    )
-            );
+            teleStart = drive.localizer.getPose();
             
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
-            velo = flywheel.getVelo();
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
-
-            shootingSequence();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup2.build(),
-                            intake(intake2Time)
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot2.build(),
-                            ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
-                    )
-            );
-
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
-            velo = flywheel.getVelo();
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
-
-            shootingSequence();
+            Actions.runBlocking(park.build());
 
             drive.updatePoseEstimate();
 
@@ -581,6 +458,19 @@ public class Red_V2 extends LinearOpMode {
         }
 
     }
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        LLResult result = robot.limelight.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                bearing = result.getTx();
+            }
+        }
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = turretPos;
+        robot.turr1.setPosition(turretPID);
+        robot.turr2.setPosition(-turretPID);
+    }
 
     public void shootingSequence() {
         TELE.addData("Velocity", velo);
@@ -684,12 +574,12 @@ public class Red_V2 extends LinearOpMode {
     public void sequence1() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -697,12 +587,12 @@ public class Red_V2 extends LinearOpMode {
     public void sequence2() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -710,13 +600,12 @@ public class Red_V2 extends LinearOpMode {
     public void sequence3() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-
-                        Shoot(AUTO_CLOSE_VEL)
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -724,12 +613,12 @@ public class Red_V2 extends LinearOpMode {
     public void sequence4() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -737,12 +626,12 @@ public class Red_V2 extends LinearOpMode {
     public void sequence5() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -750,12 +639,12 @@ public class Red_V2 extends LinearOpMode {
     public void sequence6() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java

@@ -0,0 +1,802 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
+import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.List;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class ProtoAutoClose_V3 extends LinearOpMode {
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.01; // power to hold turret in place
+    public static double slowSpeed = 30.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Flywheel flywheel;
+    Servos servo;
+    double velo = 0.0;
+    boolean gpp = false;
+    boolean pgp = false;
+    boolean ppg = false;
+    public static double spinUnjamTime = 0.6;
+    double powPID = 0.0;
+    double bearing = 0.0;
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
+    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            int id = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
+                        TELE.update();
+                    }
+
+                }
+
+                if (id == 21) {
+                    gpp = true;
+                } else if (id == 22) {
+                    pgp = true;
+                } else if (id == 23) {
+                    ppg = true;
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    if (redAlliance) {
+                        robot.limelight.pipelineSwitch(3);
+                        robot.turr1.setPosition(turret_redClose);
+                        robot.turr2.setPosition(1 - turret_redClose);
+                        return false;
+
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+                        double turretPID = turret_blueClose;
+                        robot.turr1.setPosition(turretPID);
+                        robot.turr2.setPosition(1 - turretPID);
+                        return false;
+                    }
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            int ticker = 1;
+            double initPos = 0.0;
+            double finalPos = 0.0;
+            boolean zeroNeeded = false;
+            boolean zeroPassed = false;
+            double currentPos = 0.0;
+            double prevPos = 0.0;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < 2.7) {
+
+                    robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    public Action spindexUnjam(double jamTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+
+
+                ticker++;
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+
+                if (ticker % 12 < 6) {
+
+                    robot.spin1.setPower(-1);
+                    robot.spin2.setPower(1);
+
+                } else {
+                    robot.spin1.setPower(1);
+                    robot.spin2.setPower(-1);
+                }
+
+                if (getRuntime() - stamp > jamTime+0.4) {
+
+                    robot.intake.setPower(0.5);
+
+                    return false;
+                }
+                else if (getRuntime() - stamp > jamTime) {
+
+                    robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
+
+                    return true;
+                }
+
+                else {
+                    robot.intake.setPower(1);
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            double spinCurrentPos = 0.0;
+            double spinInitPos = 0.0;
+            boolean reverse = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (ticker % 60 < 12) {
+
+                    robot.spin1.setPower(-1);
+                    robot.spin2.setPower(1);
+
+                } else if (ticker % 60 < 30) {
+                    robot.spin1.setPower(-0.5);
+                    robot.spin2.setPower(0.5);
+                }
+                else if (ticker % 60 < 42) {
+                    robot.spin1.setPower(1);
+                    robot.spin2.setPower(-1);
+                }
+                else {
+                    robot.spin1.setPower(0.5);
+                    robot.spin2.setPower(-0.5);
+                }
+                robot.intake.setPower(1);
+                TELE.addData("Reverse?", reverse);
+                TELE.update();
+
+                if (getRuntime() - stamp > intakeTime) {
+                    if (reverse) {
+                        robot.spin1.setPower(-1);
+                        robot.spin2.setPower(1);
+                    } else {
+                        robot.spin1.setPower(1);
+                        robot.spin2.setPower(-1);
+                    }
+                    return false;
+                } else {
+                    if (ticker % 4 == 0) {
+                        spinCurrentPos = servo.getSpinPos();
+                        reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
+                        spinInitPos = spinCurrentPos;
+                    }
+
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 60) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 33) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        flywheel = new Flywheel(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        servo = new Servos(hardwareMap);
+
+        robot.limelight.pipelineSwitch(1);
+        robot.limelight.start();
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
+                new TranslationalVelConstraint(slowSpeed));
+//
+//        TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+//                .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                        new TranslationalVelConstraint(slowSpeed));
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
+                .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
+                        new TranslationalVelConstraint(slowSpeed));
+        TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+
+            }
+
+            double turretPID;
+            if (redAlliance) {
+                turretPID = turret_redClose;
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
+                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
+                                new TranslationalVelConstraint(slowSpeed));
+
+//                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+//                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
+
+                shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
+                                new TranslationalVelConstraint(slowSpeed));
+
+                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
+                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
+                                new TranslationalVelConstraint(slowSpeed));
+                shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+            } else {
+                turretPID = turret_blueClose;
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
+                                new TranslationalVelConstraint(slowSpeed));
+
+                shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                                new TranslationalVelConstraint(slowSpeed));
+
+                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
+                        .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
+                                new TranslationalVelConstraint(slowSpeed));
+                shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+            }
+
+            robot.turr1.setPosition(turretPID);
+            robot.turr2.setPosition(1 - turretPID);
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Red?", redAlliance);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new SequentialAction(
+                            shoot1.build(),
+                            spindexUnjam(spinUnjamTime)
+
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            spindexUnjam(spinUnjamTime)
+                    )
+            );
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup3.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot3.build(),
+                            spindexUnjam(spinUnjamTime)
+
+                    )
+            );
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        LLResult result = robot.limelight.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                bearing = result.getTx();
+            }
+        }
+        double turretPos = (bearing / 1300);
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1 - turretPos);
+    }
+
+    public void shootingSequence() {
+        TELE.addLine("Shooting");
+        TELE.update();
+        Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/blank.java

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.autonomous;
-
-public class blank {
-}

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

@@ -1,4 +1,5 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 public class Color {
+    public static boolean redAlliance = true;
 }

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

@@ -12,40 +12,32 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static double x1 = 50, y1 = 0, h1 = 0;
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
 
-    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
+    public static double rx1 = 40, ry1 = -7, rh1 = 0;
+    public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
+    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
 
-    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
+    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
 
-    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
+    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
+    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
 
-    public static double tx = 0, ty = 0, th = 0;
+    public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
+    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
 
-    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
+    public static double bx1 = 40, by1 = 7, bh1 = 0;
+    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
+    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
+    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
 
+    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
+    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
 
+    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
+    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
+    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
 
-    public static double rx1 = 50, ry1 = -4, rh1 = 0;
-
-    public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
-
-    public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
-
-    public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
-
-    public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
-
-    public static double bx1 = 50, by1 = 4, bh1 = 0;
-
-    public static double bx2a = 45, by2a = -5, bh2a = Math.toRadians(-140);
-
-    public static double bx2b = 31, by2b = -32, bh2b = Math.toRadians(-140);
-
-    public static double bx3a = 58, by3a = -42, bh3a = Math.toRadians(-140);
-
-    public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
-
-    public static Pose2d teleStart = new Pose2d(rx1, 10, 0);
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
 
 }

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

@@ -1,44 +1,49 @@
 package org.firstinspires.ftc.teamcode.constants;
 
-
 import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.665;
+    public static double spindexer_intakePos1 = 0.19;
 
-    public static double spindexer_intakePos3 = 0.29;
+    public static double spindexer_intakePos2 = 0.35;//0.5;
 
-    public static double spindexer_intakePos2 = 0.99;
+    public static double spindexer_intakePos3 = 0.51;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.845;
+    public static double spindexer_outtakeBall3 = 0.47;
 
-    public static double spindexer_outtakeBall2 = 0.48;
-    public static double spindexer_outtakeBall1 = 0.1;
+    public static double spindexer_outtakeBall2 = 0.31;
+    public static double spindexer_outtakeBall1 = 0.15;
 
     public static double transferServo_out = 0.15;
 
     public static double transferServo_in = 0.38;
 
-
-
     public static double turret_range = 0.9;
 
     public static double hoodDefault = 0.6;
 
-    public static double hoodStart = 0.6;
+    public static double hoodAuto = 0.27;
 
-    public static double hoodHigh = 0.21;
+    public static double hoodAutoFar = 0.5; //TODO: change this;
 
-    public static double hoodLow = 1.0;
+    public static double hoodHigh = 0.21; //TODO: change this;
 
-    public static double turret_red = 0.4;
-    public static double turret_blue = 0.4;
+    public static double hoodLow = 1.0; //TODO: change this;
 
-    public static double turret_detectRed = 0.2;
+    public static double turret_redClose = 0.42;
+    public static double turret_blueClose = 0.38;
+    public static double turret_redFar = 0.5; //TODO: change this
+    public static double turret_blueFar = 0.5; // TODO: change this
 
-    public static double turret_detectBlue = 0.6;
+    public static double turret_detectRedClose = 0.2;
+
+    public static double turret_detectBlueClose = 0.6;
+    public static double turrDefault = 0.4;
+
+    public static double turrMin = 0.2;
+    public static double turrMax = 0.8;
 
 
 }

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

@@ -19,5 +19,6 @@ public class ShooterVars {
     public static double maxStep = 0.06;         // prevents sudden jumps
 
     // VELOCITY CONSTANTS
-    public static int AUTO_CLOSE_VEL = 3050; //3300;
+    public static int AUTO_CLOSE_VEL = 3175; //3300;
+    public static int AUTO_FAR_VEL = 4000; //TODO: test this
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java

@@ -5,7 +5,9 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.*;
+import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -14,12 +16,20 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.ProfileParams;
+import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
+import com.acmerobotics.roadrunner.Twist2d;
+import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -46,13 +56,131 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
 
-import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 
 @Config
 public final class MecanumDrive {
+    public static Params PARAMS = new Params();
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            new MinVelConstraint(Arrays.asList(
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
+            ));
+    public final AccelConstraint defaultAccelConstraint =
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+    public final VoltageSensor voltageSensor;
+    public final LazyImu lazyImu;
+    public final Localizer localizer;
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+
     public static class Params {
         // IMU orientation
         // TODO: fill in these values based on
@@ -73,13 +201,13 @@ public final class MecanumDrive {
         public double kA = 0.000046;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 120;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 120;
+        public double maxWheelVel = 180;
+        public double minProfileAccel = -40;
+        public double maxProfileAccel = 180;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = 2* Math.PI; // shared with path
-        public double maxAngAccel = 2* Math.PI;
+        public double maxAngVel = 4 * Math.PI; // shared with path
+        public double maxAngAccel = 4 * Math.PI;
 
         // path controller gains
         public double axialGain = 4;
@@ -91,35 +219,6 @@ public final class MecanumDrive {
         public double headingVelGain = 0.0; // shared with turn
     }
 
-    public static Params PARAMS = new Params();
-
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-
-    public final VoltageSensor voltageSensor;
-
-    public final LazyImu lazyImu;
-
-    public final Localizer localizer;
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-
     public class DriveLocalizer implements Localizer {
         public final Encoder leftFront, leftBack, rightBack, rightFront;
         public final IMU imu;
@@ -144,13 +243,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
+        public Pose2d getPose() {
+            return pose;
         }
 
         @Override
-        public Pose2d getPose() {
-            return pose;
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
         }
 
         @Override
@@ -216,63 +315,10 @@ public final class MecanumDrive {
         }
     }
 
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
-        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
-        rightBack = hardwareMap.get(DcMotorEx.class, "br");
-        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
         private final double[] xPoints, yPoints;
+        private double beginTs = -1;
 
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
@@ -450,51 +496,4 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        PoseVelocity2d vel = localizer.update();
-        poseHistory.add(localizer.getPose());
-        
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-        
-        
-        return vel;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
 }

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

@@ -1,55 +1,53 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransfer;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
-import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
-import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
-
-
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Robot;
 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;
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
-
 import java.util.ArrayList;
 import java.util.List;
 
 @TeleOp
 @Config
 public class TeleopV2 extends LinearOpMode {
-
+    Servos servo;
+    Flywheel flywheel;
     public static double manualVel = 3000;
     public static double hood = 0.5;
     public static double hoodDefaultPos = 0.5;
     public static double desiredTurretAngle = 180;
     public static double velMultiplier = 20;
+    public static double shootStamp2 = 0.0;
+
     public double vel = 3000;
     public boolean autoVel = true;
     public double manualOffset = 0.0;
     public boolean autoHood = true;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    public double shootStamp = 0.0;
+    public boolean circle = false;
+    public boolean square = false;
+    public boolean triangle = false;
+    double autoHoodOffset = 0.0;
     Robot robot;
     MultipleTelemetry TELE;
     boolean intake = false;
@@ -58,6 +56,7 @@ public class TeleopV2 extends LinearOpMode {
     double yOffset = 0.0;
     double headingOffset = 0.0;
     int ticker = 0;
+    int camTicker = 0;
     List<Double> s1G = new ArrayList<>();
     List<Double> s2G = new ArrayList<>();
     List<Double> s3G = new ArrayList<>();
@@ -67,12 +66,8 @@ public class TeleopV2 extends LinearOpMode {
     List<Boolean> s1 = new ArrayList<>();
     List<Boolean> s2 = new ArrayList<>();
     List<Boolean> s3 = new ArrayList<>();
-
     boolean oddBallColor = false;
-
     AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
-
-
     MecanumDrive drive;
     double hoodOffset = 0.0;
     boolean shoot1 = false;
@@ -82,11 +77,13 @@ public class TeleopV2 extends LinearOpMode {
     boolean shootC = true;
     boolean manualTurret = false;
 
-    public boolean green1 = false;
-    public boolean green2 = false;
-    public boolean green3 = false;
+    boolean outtake1 = false;
+    boolean outtake2 = false;
+    boolean outtake3 = false;
+    boolean overrideTurr = false;
 
     List<Integer> shootOrder = new ArrayList<>();
+    boolean emergency = false;
     private double lastEncoderRevolutions = 0.0;
     private double lastTimeStamp = 0.0;
     private double velo1, velo;
@@ -95,11 +92,28 @@ public class TeleopV2 extends LinearOpMode {
     private double transferStamp = 0.0;
     private int tickerA = 1;
     private boolean transferIn = false;
-    public double shootStamp = 0.0;
-    public boolean circle = false;
-    public boolean square = false;
-    public boolean triangle = false;
+    double turretPID = 0.0;
+    double turretPos = 0.5;
+    double spindexPID = 0.0;
+    double spindexPos = spindexer_intakePos1;
+    double error = 0.0;
 
+    public static double velPrediction(double distance) {
+
+        if (distance < 30) {
+            return 2750;
+        } else if (distance > 100) {
+            if (distance > 160) {
+                return 4200;
+            }
+            return 3700;
+        } else {
+            // linear interpolation between 40->2650 and 120->3600
+            double slope = (3700.0 - 2750.0) / (100.0 - 30);
+            return (int) Math.round(2750 + slope * (distance - 30));
+        }
+
+    }
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -114,6 +128,8 @@ public class TeleopV2 extends LinearOpMode {
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
+        servo = new Servos(hardwareMap);
+        flywheel = new Flywheel(hardwareMap);
 
         drive = new MecanumDrive(hardwareMap, teleStart);
 
@@ -121,19 +137,12 @@ public class TeleopV2 extends LinearOpMode {
 
         aprilTagWebcam.init(new Robot(hardwareMap), TELE);
 
-        robot.turr1.setPosition(0.4);
-        robot.turr2.setPosition(1-0.4);
-
-
-
-
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()) {
 
             //DRIVETRAIN:
 
-
             double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
             double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
             double rx = gamepad1.left_stick_x;
@@ -144,14 +153,21 @@ public class TeleopV2 extends LinearOpMode {
             double frontRightPower = (y - x - rx) / denominator;
             double backRightPower = (y + x - rx) / denominator;
 
-
-
             robot.frontLeft.setPower(frontLeftPower);
             robot.backLeft.setPower(backLeftPower);
             robot.frontRight.setPower(frontRightPower);
             robot.backRight.setPower(backRightPower);
 
 
+            //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{
+                robot.spin1.setPower(0);
+                robot.spin2.setPower(0);
+            }
 
             //INTAKE:
 
@@ -159,13 +175,14 @@ public class TeleopV2 extends LinearOpMode {
                 intake = !intake;
                 reject = false;
                 shootAll = false;
+                emergency = false;
+                overrideTurr = false;
 
             }
 
             if (gamepad1.leftBumperWasPressed()) {
                 intake = false;
-                reject = true;
-                shootAll = false;
+                emergency = !emergency;
 
             }
 
@@ -175,22 +192,15 @@ public class TeleopV2 extends LinearOpMode {
 
                 robot.intake.setPower(1);
 
-                double position;
-
                 if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.015;
+                    spindexPos = spindexer_intakePos1 + 0.015;
                 } else {
-                    position = spindexer_intakePos1 - 0.015;
+                    spindexPos = spindexer_intakePos1 - 0.015;
                 }
 
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
-
             } else if (reject) {
                 robot.intake.setPower(-1);
-                double position = spindexer_intakePos1;
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                spindexPos = spindexer_intakePos1;
             } else {
                 robot.intake.setPower(0);
             }
@@ -259,7 +269,6 @@ public class TeleopV2 extends LinearOpMode {
                 s3T.add(getRuntime());
             }
 
-
             if (!s1.isEmpty()) {
                 green1 = checkGreen(s1, s1T);
             }
@@ -271,62 +280,21 @@ public class TeleopV2 extends LinearOpMode {
                 green3 = checkGreen(s3, s3T);
             }
 
-
             //SHOOTER:
 
-            double penguin = 0;
-
-            if (ticker % 8 == 0) {
-                penguin = (double) robot.shooterEncoder.getCurrentPosition() / 2048;
-                double stamp = getRuntime();
-                velo1 = -60 * ((penguin - initPos) / (stamp - stamp1));
-                initPos = penguin;
-                stamp1 = stamp;
-            }
-
-            velo = velo1;
-
-            double feed = vel / 4500;
-
-            if (vel > 500) {
-                feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-            }
-
-            // --- PROPORTIONAL CORRECTION ---
-            double error = vel - velo1;
-            double correction = kP * error;
-
-            // limit how fast power changes (prevents oscillation)
-            correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-            // --- FINAL MOTOR POWER ---
-            double powPID = feed + correction;
-
-            // clamp to allowed range
-            powPID = Math.max(0, Math.min(1, powPID));
-
-            if (vel - velo > 1000) {
-                powPID = 1;
-            } else if (velo - vel > 1000) {
-                powPID = 0;
-            }
-
-            TELE.addData("PIDPower", powPID);
-
-            TELE.addData("vel", velo1);
-
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
+            double powPID = flywheel.manageFlywheel((int) vel);
 
              robot.transfer.setPower(1);
 
-
             //TURRET:
 
             double offset;
 
-            double robotX = drive.localizer.getPose().position.x - xOffset;
-            double robotY = drive.localizer.getPose().position.y - xOffset;
+            double robX = drive.localizer.getPose().position.x;
+            double robY = drive.localizer.getPose().position.y;
+
+            double robotX = robX - xOffset;
+            double robotY = robY - yOffset;
             double robotHeading = drive.localizer.getPose().heading.toDouble();
 
             double goalX = -10;
@@ -347,7 +315,8 @@ public class TeleopV2 extends LinearOpMode {
                 offset -= 360;
             }
 
-            double pos = 0.4;
+            //TODO: test the camera teleop code
+            double pos = turrDefault + (error/8); // adds the overall error to the default
 
             TELE.addData("offset", offset);
 
@@ -359,12 +328,52 @@ public class TeleopV2 extends LinearOpMode {
                 pos = 0.97;
             }
 
-            if (manualTurret){
-                pos = 0.4 + (manualOffset/100);
+            if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
+                AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
+                AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
+
+                double bearing = 0.0;
+                if (d20 != null || d24 != null){
+                    if (d20 != null) {
+                        bearing = d20.ftcPose.bearing;
+                    }
+                    if (d24 != null) {
+                        bearing = d24.ftcPose.bearing;
+                    }
+                    overrideTurr = true;
+                    turretPos = servo.getTurrPos() - (bearing/1300);
+                    TELE.addData("Bear", bearing);
+
+                    double bearingCorrection = bearing / 1300;
+
+
+                    // deadband: ignore tiny noise
+                    if (Math.abs(bearing) > 0.3 && camTicker < 8) {
+
+                        // only accumulate if bearing direction is consistent
+                        if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
+                            error += bearingCorrection;
+                        }
                     }
 
-            robot.turr1.setPosition(pos);
-            robot.turr2.setPosition(1 - pos);
+                    camTicker++;
+
+                }
+
+
+            } else {
+                camTicker = 0;
+                overrideTurr = false;
+
+            }
+
+            if (manualTurret) {
+                pos = turrDefault + (manualOffset / 100);
+            }
+
+            if (!overrideTurr) {
+                turretPos = pos;
+            }
 
             if (gamepad2.dpad_right) {
                 manualOffset -= 2;
@@ -372,8 +381,6 @@ public class TeleopV2 extends LinearOpMode {
                 manualOffset += 2;
             }
 
-        
-
             //VELOCITY AUTOMATIC
 
             if (autoVel) {
@@ -390,12 +397,10 @@ public class TeleopV2 extends LinearOpMode {
             } else if (gamepad2.right_stick_y > 0.5) {
                 autoVel = false;
                 manualVel = 2700;
-            }
-            else if (gamepad2.right_stick_x > 0.5) {
+            } else if (gamepad2.right_stick_x > 0.5) {
                 autoVel = false;
                 manualVel = 3600;
-            }
-            else if (gamepad2.right_stick_x < -0.5) {
+            } else if (gamepad2.right_stick_x < -0.5) {
                 autoVel = false;
                 manualVel = 3100;
             }
@@ -403,97 +408,105 @@ public class TeleopV2 extends LinearOpMode {
             //HOOD:
 
             if (autoHood) {
-                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal));
+                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
             } else {
                 robot.hood.setPosition(hoodDefaultPos + hoodOffset);
             }
 
             if (gamepad2.dpadUpWasPressed()) {
                 hoodOffset -= 0.03;
+                autoHoodOffset -= 0.02;
+
             } else if (gamepad2.dpadDownWasPressed()) {
                 hoodOffset += 0.03;
+                autoHoodOffset += 0.02;
+
             }
 
-            if (gamepad2.left_stick_x>0.5){
+            if (gamepad2.left_stick_x > 0.5) {
                 manualTurret = false;
-            } else if (gamepad2.left_stick_x<-0.5){
-                manualTurret = true;
+            } else if (gamepad2.left_stick_x < -0.5) {
                 manualOffset = 0;
-                if (gamepad2.left_bumper){
-                    xOffset = robotX;
-                    yOffset = robotY;
-                    headingOffset = robotHeading;
+                manualTurret = false;
+                if (gamepad2.left_bumper) {
+                    drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
+                    sleep(1200);
                 }
             }
 
-            if (gamepad2.left_stick_y<-0.5){
+            if (gamepad2.left_stick_y < -0.5) {
                 autoHood = true;
-            } else if (gamepad2.left_stick_y>0.5){
+            } else if (gamepad2.left_stick_y > 0.5) {
                 autoHood = false;
                 hoodOffset = 0;
-                if (gamepad2.left_bumper){
+                if (gamepad2.left_bumper) {
                     xOffset = robotX;
                     yOffset = robotY;
                     headingOffset = robotHeading;
                 }
             }
 
-            //SHOOT ALL:
+            //SHOOT ALL:]
 
+            if (emergency) {
+                intake = false;
+                reject = true;
 
-            if (shootAll) {
-
-                TELE.addData("100% works",shootOrder);
-                TELE.update();
-
+                if (getRuntime() % 3 > 1.5) {
+                    spindexPos = 1;
+                } else {
+                    spindexPos = 0;
+                }
 
+                robot.transferServo.setPosition(transferServo_out);
 
+                robot.transfer.setPower(1);
 
+            } else if (shootAll) {
 
+                TELE.addData("100% works", shootOrder);
 
                 intake = false;
                 reject = false;
 
-                if (!shootOrder.isEmpty() && (getRuntime()-shootStamp < 10)) {
+                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
                     int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
                     boolean shootingDone = false;
 
-                    AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
-                    AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
-
-
-                    if (d20!=null){
-                        //TODO: Add logic here and below for webcam if using
+                    if (!outtake1) {
+                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
                     }
-
-                    if (d24!=null){
-
+                    if (!outtake2) {
+                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                    }
+                    if (!outtake3) {
+                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
                     }
 
                     switch (currentSlot) {
                         case 1:
-                            shootA = shootTeleop(spindexer_outtakeBall1);
+                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
                             TELE.addData("shootA", shootA);
 
-                            if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
                                 shootingDone = !shootA;
                             } else {
                                 shootingDone = true;
                             }
                             break;
                         case 2:
-                            shootB = shootTeleop(spindexer_outtakeBall2);
+                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
                             TELE.addData("shootB", shootB);
-                            if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
                                 shootingDone = !shootB;
                             } else {
                                 shootingDone = true;
                             }
                             break;
                         case 3:
-                            shootC = shootTeleop(spindexer_outtakeBall3);
+                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
                             TELE.addData("shootC", shootC);
-                            if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
                                 shootingDone = !shootC;
                             } else {
                                 shootingDone = true;
@@ -501,47 +514,63 @@ public class TeleopV2 extends LinearOpMode {
                             break;
                     }
 
-
                     // Remove from the list only if shooting is complete
                     if (shootingDone) {
                         shootOrder.remove(0);
+                        shootStamp2 = getRuntime();
+
                     }
 
                 } else {
                     // Finished shooting all balls
-                    robot.spin1.setPosition(spindexer_intakePos1);
-                    robot.spin2.setPosition(1 - spindexer_intakePos1);
+                    spindexPos = spindexer_intakePos1;
                     shootA = true;
                     shootB = true;
                     shootC = true;
                     reject = false;
                     intake = true;
                     shootAll = false;
-                }
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
 
+                    overrideTurr = false;
 
                 }
 
-            if (gamepad2.squareWasPressed()){
+            }
+
+            if (gamepad2.squareWasPressed()) {
                 square = true;
                 shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
             }
 
-
-            if (gamepad2.circleWasPressed()){
+            if (gamepad2.circleWasPressed()) {
                 circle = true;
                 shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
 
             }
 
-
-            if (gamepad2.triangleWasPressed()){
+            if (gamepad2.triangleWasPressed()) {
                 triangle = true;
                 shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
 
             }
 
-
             if (square || circle || triangle) {
 
                 // Count green balls
@@ -573,7 +602,6 @@ public class TeleopV2 extends LinearOpMode {
                 square = false;
                 triangle = false;
 
-
             }
 
             // Right bumper shoots all balls fastest, ignoring colors
@@ -581,22 +609,82 @@ public class TeleopV2 extends LinearOpMode {
                 shootOrder.clear();
                 shootStamp = getRuntime();
 
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
                 // Fastest order (example: slot 3 → 2 → 1)
+
+                if (ballIn(3)) {
                     shootOrder.add(3);
-                shootOrder.add(2);
-                shootOrder.add(1);
-                shootAll = true;
-                shootPos = drive.localizer.getPose();
-
-
 
                 }
 
-            if (gamepad2.x){
-                shootAll = false;
+                if (ballIn(2)) {
+                    shootOrder.add(2);
 
                 }
 
+                if (ballIn(1)) {
+                    shootOrder.add(1);
+
+                }
+
+                if (!shootOrder.contains(3)) {
+
+                    shootOrder.add(3);
+                }
+
+                if (!shootOrder.contains(2)) {
+
+                    shootOrder.add(2);
+                }
+
+                if (!shootOrder.contains(1)) {
+
+                    shootOrder.add(1);
+                }
+
+                shootAll = true;
+                shootPos = drive.localizer.getPose();
+
+            }
+
+//            // Right bumper shoots all balls fastest, ignoring colors
+//            if (gamepad2.leftBumperWasPressed()) {
+//                shootOrder.clear();
+//                shootStamp = getRuntime();
+//
+//                outtake1 = false;
+//                outtake2 = false;
+//                outtake3 = false;
+//
+//                // Fastest order (example: slot 3 → 2 → 1)
+//
+//                if (ballIn(3)) {
+//                    shootOrder.add(3);
+//                }
+//
+//                if (ballIn(2)) {
+//                    shootOrder.add(2);
+//                }
+//                if (ballIn(1)) {
+//                    shootOrder.add(1);
+//                }
+//                shootAll = true;
+//                shootPos = drive.localizer.getPose();
+//
+//            }
+//
+            if (gamepad2.crossWasPressed()) {
+                emergency = true;
+
+            }
+
+            if (gamepad2.leftBumperWasPressed()) {
+                emergency = false;
+            }
+
             //MISC:
 
             drive.updatePoseEstimate();
@@ -605,9 +693,9 @@ public class TeleopV2 extends LinearOpMode {
                 hub.clearBulkCache();
             }
 
-            TELE.addData("Spin1Green", green1);
-            TELE.addData("Spin2Green", green2);
-            TELE.addData("Spin3Green", green3);
+            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
+            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
+            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
 
             TELE.addData("pose", drive.localizer.getPose());
             TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
@@ -620,7 +708,6 @@ public class TeleopV2 extends LinearOpMode {
 
             aprilTagWebcam.update();
 
-
             TELE.update();
 
             ticker++;
@@ -649,18 +736,12 @@ public class TeleopV2 extends LinearOpMode {
         return countTrue > countWindow / 2.0; // more than 50% true
     }
 
-    boolean spindexPosEqual(double spindexer) {
-        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
-                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
-    }
-
-    public boolean shootTeleop(double spindexer) {
+    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
         // Set spin positions
-        robot.spin1.setPosition(spindexer);
-        robot.spin2.setPosition(1 - spindexer);
+        spindexPos = spindexer;
 
         // Check if spindexer has reached the target position
-        if (spindexPosEqual(spindexer)) {
+        if (spinOk || getRuntime() - stamp > 1.5) {
             if (tickerA == 1) {
                 transferStamp = getRuntime();
                 tickerA++;
@@ -696,9 +777,22 @@ public class TeleopV2 extends LinearOpMode {
         }
     }
 
-    public double hoodAnglePrediction(double distance) {
+    public double hoodAnglePrediction(double x) {
+        if (x < 34) {
+            double L = 1.04471;
+            double U = 0.711929;
+            double Q = 120.02263;
+            double B = 0.780982;
+            double M = 20.61191;
+            double v = 10.40506;
 
-        return 0.4;
+            double inner = 1 + Q * Math.exp(-B * (x - M));
+            return L + (U - L) / Math.pow(inner, 1.0 / v);
+
+        } else {
+            // x >= 34
+            return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
+        }
     }
 
     void addOddThenRest(List<Integer> order, boolean oddColor) {
@@ -710,8 +804,6 @@ public class TeleopV2 extends LinearOpMode {
         TELE.addData("oddBall", oddColor);
         shootAll = true;
 
-
-
     }
 
     void addOddInMiddle(List<Integer> order, boolean oddColor) {
@@ -750,6 +842,7 @@ public class TeleopV2 extends LinearOpMode {
         shootAll = true;
 
     }
+
     void addOddLast(List<Integer> order, boolean oddColor) {
         // Odd ball last
         for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
@@ -759,35 +852,45 @@ public class TeleopV2 extends LinearOpMode {
         TELE.addData("oddBall", oddColor);
         shootAll = true;
 
-
     }
 
     // Returns color of ball in slot i (1-based)
     boolean getBallColor(int slot) {
-        switch(slot) {
-            case 1: return green1;
-            case 2: return green2;
-            case 3: return green3;
+        switch (slot) {
+            case 1:
+                return green1;
+            case 2:
+                return green2;
+            case 3:
+                return green3;
         }
         return false; // default
     }
 
-        public static double velPrediction(double distance) {
+    boolean ballIn(int slot) {
+        switch (slot) {
+            case 1:
 
-        if (distance < 30) {
-            return 2750;
-        } else if (distance > 100) {
-            if (distance > 160) {
-                return 4200;
-            }
-            return 3700;
-        } else {
-            // linear interpolation between 40->2650 and 120->3600
-            double slope = (3700.0 - 2750.0) / (100.0 - 30);
-            return (int) Math.round(2750 + slope * (distance - 30));
+                if (!s1T.isEmpty()) {
+
+                    return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
                 }
 
+            case 2:
+
+                if (!s2T.isEmpty()) {
+
+                    return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
                 }
 
+            case 3:
 
+                if (!s3T.isEmpty()) {
+
+                    return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
+
+                }
+        }
+        return true; // default
+    }
 }

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

@@ -0,0 +1,55 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class ColorTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while(opModeIsActive()){
+            double green1 = robot.color1.getNormalizedColors().green;
+            double blue1 = robot.color1.getNormalizedColors().blue;
+            double red1 = robot.color1.getNormalizedColors().red;
+
+            TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
+            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
+
+// ----- COLOR 2 -----
+            double green2 = robot.color2.getNormalizedColors().green;
+            double blue2 = robot.color2.getNormalizedColors().blue;
+            double red2 = robot.color2.getNormalizedColors().red;
+
+            TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
+            TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
+            TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
+
+// ----- COLOR 3 -----
+            double green3 = robot.color3.getNormalizedColors().green;
+            double blue3 = robot.color3.getNormalizedColors().blue;
+            double red3 = robot.color3.getNormalizedColors().red;
+
+            TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
+            TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
+            TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
+
+            TELE.update();
+        }
+    }
+}

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

@@ -0,0 +1,223 @@
+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;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Config
+@TeleOp
+public class IntakeTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    List<Double> s1G = new ArrayList<>();
+    List<Double> s2G = new ArrayList<>();
+    List<Double> s3G = new ArrayList<>();
+    List<Double> s1T = new ArrayList<>();
+    List<Double> s2T = new ArrayList<>();
+    List<Double> s3T = new ArrayList<>();
+    List<Boolean> s1 = new ArrayList<>();
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    public static int mode = 0; // 0 for teleop, 1 for auto
+    public static double manualPow = 0.15;
+    double stamp = 0;
+    int ticker = 0;
+    boolean steadySpin = false;
+    double powPID = 0.0;
+    boolean intake = true;
+    double spindexerPos = spindexer_intakePos1;
+    boolean wasMoving = false;
+    double currentPos = 0.0;
+    double initPos = 0.0;
+    boolean reverse = false;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        robot = new Robot(hardwareMap);
+        servo = new Servos(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+            if (mode == 0) {
+                if (gamepad1.right_bumper) {
+                    ticker++;
+                    if (ticker % 16 == 0){
+                        currentPos = servo.getSpinPos();
+                        if (Math.abs(currentPos - initPos) == 0.0){
+                            reverse = !reverse;
+                        }
+                        initPos = currentPos;
+                    }
+                    if (reverse){
+                        robot.spin1.setPower(manualPow);
+                        robot.spin2.setPower(-manualPow);
+                    } else {
+                        robot.spin1.setPower(-manualPow);
+                        robot.spin2.setPower(manualPow);
+                    }
+                    robot.intake.setPower(1);
+                    stamp = getRuntime();
+                    TELE.addData("Reverse?", reverse);
+                    TELE.update();
+                } else {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    if (getRuntime() - stamp < 1) {
+                        robot.intake.setPower(-(getRuntime() - stamp)*2);
+                    } else {
+                        robot.intake.setPower(0);
+                    }
+
+                    ticker = 0;
+                }
+            } else if (mode == 1) {
+
+                if (gamepad1.right_bumper && intake){
+                    robot.intake.setPower(1);
+                } else if (gamepad1.left_bumper){
+                    robot.intake.setPower(-1);
+                } else {
+                    robot.intake.setPower(0);
+                }
+
+                colorDetect();
+                spindexer();
+
+                if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
+                    if (!ballIn(2)){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            spindexerPos = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            spindexerPos = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            spindexerPos = spindexer_intakePos1;
+                        }
+                    } else if (!ballIn(3)){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            spindexerPos = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            spindexerPos = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            spindexerPos = spindexer_intakePos2;
+                        }
+                    }
+                }
+
+            } else if (mode == 2){ // switch to this mode before switching modes or to reset balls
+                powPID = 0;
+                spindexerPos = spindexer_intakePos1;
+                stamp = getRuntime();
+                ticker = 0;
+                spindexer();
+                intake = true;
+            }
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
+            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
+            double rx = gamepad1.left_stick_x;
+
+            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+            double frontLeftPower = (y + x + rx) / denominator;
+            double backLeftPower = (y - x + rx) / denominator;
+            double frontRightPower = (y - x - rx) / denominator;
+            double backRightPower = (y + x - rx) / denominator;
+
+            robot.frontLeft.setPower(frontLeftPower);
+            robot.backLeft.setPower(backLeftPower);
+            robot.frontRight.setPower(frontRightPower);
+            robot.backRight.setPower(backRightPower);
+
+            TELE.addData("Manual Power", manualPow);
+            TELE.addData("PID Power", powPID);
+            TELE.addData("B1", ballIn(1));
+            TELE.addData("B2", ballIn(2));
+            TELE.addData("B3", ballIn(3));
+            TELE.addData("Spindex Pos", servo.getSpinPos());
+            TELE.update();
+        }
+    }
+
+    public void colorDetect() {
+        double s1D = robot.color1.getDistance(DistanceUnit.MM);
+        double s2D = robot.color2.getDistance(DistanceUnit.MM);
+        double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+        TELE.addData("Color 1 Distance", s1D);
+        TELE.addData("Color 2 Distance", s2D);
+        TELE.addData("Color 3 Distance", s3D);
+        TELE.update();
+
+        if (s1D < 43) {
+            s1T.add(getRuntime());
+        }
+
+        if (s2D < 60) {
+            s2T.add(getRuntime());
+        }
+
+        if (s3D < 33) {
+            s3T.add(getRuntime());
+        }
+    }
+
+    public void spindexer() {
+        boolean atTarget = servo.spinEqual(spindexerPos);
+
+        if (!atTarget) {
+            powPID = servo.setSpinPos(spindexerPos);
+            robot.spin1.setPower(powPID);
+            robot.spin2.setPower(-powPID);
+
+            steadySpin = false;
+            wasMoving = true;   // remember we were moving
+            stamp = getRuntime();
+        } else {
+            robot.spin1.setPower(0);
+            robot.spin2.setPower(0);
+            steadySpin = true;
+            wasMoving = false;
+        }
+    }
+
+    boolean ballIn(int slot) {
+        List<Double> times;
+
+        if (slot == 1) {times = s1T;}
+        else if (slot == 2) {times = s2T;}
+        else if (slot == 3) {times = s3T;}
+        else return false;
+
+        if (!times.isEmpty()){
+            return times.get(times.size() - 1) > getRuntime() - 2;
+        } else {
+            return false;
+        }
+    }
+
+}

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

@@ -0,0 +1,77 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+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;
+
+@Config
+@TeleOp
+//TODO: fix to get the apriltag that it is reading
+public class LimelightTest extends LinearOpMode {
+    MultipleTelemetry TELE;
+    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
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        limelight.pipelineSwitch(pipeline);
+        waitForStart();
+        if (isStopRequested()) return;
+        limelight.start();
+        while (opModeIsActive()){
+            if (mode == 0){
+                limelight.pipelineSwitch(pipeline);
+                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 == 1){
+                limelight.pipelineSwitch(1);
+                LLResult result = limelight.getLatestResult();
+                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){
+                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/PIDServoTest.java

@@ -0,0 +1,64 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@TeleOp
+@Config
+public class PIDServoTest extends LinearOpMode {
+
+    public static double p = 2, i = 0, d = 0, f = 0;
+
+    public static double target = 0.5;
+
+    public static int mode = 0; //0 is for turret, 1 is for spindexer
+
+    public static double scalar = 1.01;
+    public static double restPos = 0.0;
+
+    Robot robot;
+
+    double pos = 0.0;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        PIDFController controller = new PIDFController(p, i, d, f);
+
+        controller.setTolerance(0.001);
+        robot = new Robot(hardwareMap);
+
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+            controller.setPIDF(p, i, d, f);
+            if (mode == 1) {
+                pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
+
+                double pid = controller.calculate(pos, target);
+
+                robot.spin1.setPower(pid);
+                robot.spin2.setPower(-pid);
+            }
+
+            telemetry.addData("pos", pos);
+            telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
+            telemetry.addData("target", target);
+            telemetry.addData("Mode", mode);
+            telemetry.update();
+
+        }
+
+    }
+
+}

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;
@@ -7,6 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
@@ -16,18 +19,19 @@ public class ShooterTest extends LinearOpMode {
     public static int mode = 0;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
-    public static double MAX_RPM = 4500;      // your measured max RPM
-    public static double kP = 0.001;           // small proportional gain (tune this)
-    public static double maxStep = 0.06;         // prevents sudden jumps
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
-    public static double transferPower = 0.0;
+    public static double Velocity = 0.0;
+    public static double P = 40.0;
+    public static double I = 0.3;
+    public static double D = 7.0;
+    public static double F = 10.0;
+    public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
-
     public static double turretPos = 0.501;
+    public static boolean shoot = false;
     Robot robot;
-    private double lastEncoderRevolutions = 0.0;
-    private double lastTimeStamp = 0.0;
+    Flywheel flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -35,7 +39,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        DcMotorEx encoder = robot.shooter1;
+        flywheel = new Flywheel(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -47,60 +51,31 @@ public class ShooterTest extends LinearOpMode {
 
         while (opModeIsActive()) {
 
-            double kF = 1.0 / MAX_RPM;     // baseline feedforward
-
-            double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
-
-            double velocity = -60 * (encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
-
-            TELE.addLine("Mode: 0 = Manual, 1 = Vel, 2 = Pos");
-            TELE.addLine("Parameter = pow, vel, or pos");
-            TELE.addData("leftShooterPower", leftShooter.getPower());
-            TELE.addData("rightShooterPower", rightShooter.getPower());
-            TELE.addData("shaftEncoderPos", encoderRevolutions);
-            TELE.addData("shaftEncoderVel", velocity);
-
-            double velPID;
-
             if (mode == 0) {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-
-                // --- FEEDFORWARD BASE POWER ---
-                double feed = kF * parameter;        // Example: vel=2500 → feed=0.5
-
-                // --- PROPORTIONAL CORRECTION ---
-                double error = parameter - velocity;
-                double correction = kP * error;
-
-                // limit how fast power changes (prevents oscillation)
-                correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                // --- FINAL MOTOR POWER ---
-                velPID = feed + correction;
-
-                // clamp to allowed range
-                velPID = Math.max(0, Math.min(1, velPID));
-
-                rightShooter.setPower(velPID);
-                leftShooter.setPower(velPID);
-
+                flywheel.setPIDF(P,I,D,F);
+                flywheel.manageFlywheel((int) Velocity);
             }
 
-            lastTimeStamp = getRuntime();
-            lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
-
             if (hoodPos != 0.501) {
                 robot.hood.setPosition(hoodPos);
             }
 
-            if (turretPos!=0.501){
-                robot.turr1.setPosition(turretPos);
-                robot.turr2.setPosition(turretPos);
-            }
 
             robot.transfer.setPower(transferPower);
+            if (shoot) {
+                robot.transferServo.setPosition(transferServo_in);
+            } else {
+                robot.transferServo.setPosition(transferServo_out);
+            }
+            TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velocity 1", flywheel.getVelo1());
+            TELE.addData("Velocity 2", flywheel.getVelo2());
+            TELE.addData("Power", robot.shooter1.getPower());
+            TELE.addData("Steady?", flywheel.getSteady());
+            TELE.addData("Position", robot.shooter1.getCurrentPosition());
 
             TELE.update();
 

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

@@ -0,0 +1,50 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+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 {
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot robot = new Robot(hardwareMap);
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        AprilTagWebcam webcam = new AprilTagWebcam();
+        webcam.init(robot, TELE);
+
+        Turret turret = new Turret(robot, TELE, webcam);
+        waitForStart();
+
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
+
+        while(opModeIsActive()){
+
+            drive.updatePoseEstimate();
+            turret.trackGoal(drive.localizer.getPose());
+
+            webcam.update();
+            webcam.displayAllTelemetry();
+
+
+
+            TELE.update();
+        }
+
+    }
+}

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

@@ -1,92 +1,81 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 
 public class Flywheel {
     Robot robot;
-
-    MultipleTelemetry TELE;
-    double initPos = 0.0;
-    double stamp = 0.0;
-    double stamp1 = 0.0;
-    double ticker = 0.0;
-    double stamp2 = 0.0;
-    double currentPos = 0.0;
-    boolean prevSteady = false;
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
-    double prevVelo = 0.0;
+    double velo1 = 0.0;
+    double velo2 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
-
-    public Flywheel () {
-        //robot = new Robot(hardwareMap);
+    public Flywheel (HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+        shooterPIDF1 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+        shooterPIDF2 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
     }
 
     public double getVelo () {
         return velo;
     }
+    public double getVelo1 () {
+        return velo1;
+    }
+    public double getVelo2 () {
+        return velo2;
+    }
 
     public boolean getSteady() {
         return steady;
     }
 
-    private double getTimeSeconds ()
-    {
-        return (double) System.currentTimeMillis()/1000.0;
+    // Set the robot PIDF for the next cycle.
+    public void setPIDF(double p, double i, double d, double f) {
+        robot.shooterPIDF.p = p;
+        robot.shooterPIDF.i = i;
+        robot.shooterPIDF.d = d;
+        robot.shooterPIDF.f = f;
     }
 
+    // Convert from RPM to Ticks per Second
+    private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
 
-    public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
-        targetVelocity = (double) commandedVelocity;
+    // Convert from Ticks per Second to RPM
+    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
 
-        ticker++;
-        if (ticker % 8 == 0) {
-            currentPos = shooter1CurPos / 2048;
-            stamp = getTimeSeconds(); //getRuntime();
-            velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-            initPos = currentPos;
-            stamp1 = stamp;
-        }
-        // Flywheel control code here
-        if (targetVelocity - velo > 500) {
-            powPID = 1.0;
-        } else if (velo - targetVelocity > 500){
-            powPID = 0.0;
-        } else {
-            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
+    public double manageFlywheel(double commandedVelocity) {
+        targetVelocity = commandedVelocity;
 
-            // --- PROPORTIONAL CORRECTION ---
-            double error = targetVelocity - velo;
-            double correction = kP * error;
+        // Add code here to set PIDF based on desired RPM
+        //robot.shooterPIDF.p = P;
+        //robot.shooterPIDF.i = I;
+        //robot.shooterPIDF.d = D;
+        //robot.shooterPIDF.f = F;
 
-            // limit how fast power changes (prevents oscillation)
-            correction = Math.max(-maxStep, Math.min(maxStep, correction));
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
 
-            // --- FINAL MOTOR POWER ---
-            powPID = feed + correction;
-
-            // clamp to allowed range
-            powPID = Math.max(0, Math.min(1, powPID));
-        }
+        // Record Current Velocity
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        velo = Math.max(velo1,velo2);
 
         // really should be a running average of the last 5
-        if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0))
-        {
-            steady = true;
-        }
-        else
-        {
-            steady = false;
-        }
+        steady = (Math.abs(targetVelocity - velo) < 200.0);
 
         return powPID;
     }
 
     public void update()
     {
-    };
-};
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/FlywheelV2.java

@@ -0,0 +1,110 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class FlywheelV2 {
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+    double initPos1 = 0.0;
+    double initPos2 = 0.0;
+    double stamp = 0.0;
+    double stamp1 = 0.0;
+    double ticker = 0.0;
+    double currentPos1 = 0.0;
+    double currentPos2 = 0.0;
+    double velo = 0.0;
+    double velo1 = 0.0;
+    double velo1a = 0.0;
+    double velo1b = 0.0;
+    double velo2 = 0.0;
+    double velo3 = 0.0;
+    double velo4 = 0.0;
+    double velo5 = 0.0;
+    double targetVelocity = 0.0;
+    double powPID = 0.0;
+    boolean steady = false;
+
+    public FlywheelV2() {
+        //robot = new Robot(hardwareMap);
+    }
+
+    public double getVelo(double shooter1CurPos, double shooter2CurPos) {
+        ticker++;
+        if (ticker % 2 == 0) {
+            velo5 = velo4;
+            velo4 = velo3;
+            velo3 = velo2;
+            velo2 = velo1;
+
+            currentPos1 = shooter1CurPos / 28;
+            currentPos2 = shooter2CurPos / 28;
+            stamp = getTimeSeconds(); //getRuntime();
+            velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
+            velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
+            initPos1 = currentPos1;
+            initPos2 = currentPos2;
+            stamp1 = stamp;
+
+            if (velo1a < 200){
+                velo1 = velo1b;
+            } else if (velo1b < 200){
+                velo1 = velo1a;
+            } else {
+                velo1 = (velo1a + velo1b) / 2;
+            }
+        }
+        return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
+    }
+
+    public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
+
+    public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
+
+    public boolean getSteady() {
+        return steady;
+    }
+
+    private double getTimeSeconds() {
+        return (double) System.currentTimeMillis() / 1000.0;
+    }
+
+    public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
+        targetVelocity = commandedVelocity;
+        velo = getVelo(shooter1CurPos, shooter2CurPos);
+        // Flywheel PID code here
+        if (targetVelocity - velo > 4500) {
+            powPID = 1.0;
+        } else if (velo - targetVelocity > 4500) {
+            powPID = 0.0;
+        } else {
+
+            double a = 2539.07863;
+            double c = 1967.6498;
+            double d = -0.289647;
+            double h = -1.1569;
+
+            double feed = Math.log10((a / (targetVelocity + c)) + d) / h;
+
+            // --- PROPORTIONAL CORRECTION ---
+            double error = targetVelocity - velo;
+            double correction = kP * error;
+
+            // limit how fast power changes (prevents oscillation)
+            correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+            // --- FINAL MOTOR POWER ---
+            powPID = feed + correction;
+
+            // clamp to allowed range
+            powPID = Math.max(0, Math.min(1, powPID));
+        }
+
+        steady = (Math.abs(targetVelocity - velo) < 100.0);
+
+        return powPID;
+    }
+
+    public void update() {
+    }
+}

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

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -11,23 +13,36 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 public class PositionalServoProgrammer extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
+    Servos servo;
+
     public static double spindexPos = 0.501;
+    public static double spindexPow = 0.0;
+    public static double spinHoldPow = 0.0;
     public static double turretPos = 0.501;
+    public static double turretPow = 0.0;
+    public static double turrHoldPow = 0.0;
     public static double transferPos = 0.501;
     public static double hoodPos = 0.501;
+    public static int mode = 0; //0 for positional, 1 for power
 
-    public static double scalar = 1.112;
-    public static double restPos = 0.158;
     @Override
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        servo = new Servos(hardwareMap);
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
-            if (spindexPos != 0.501){
-                robot.spin1.setPosition(spindexPos);
-                robot.spin2.setPosition(1-spindexPos);
+            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
+                double pos = servo.setSpinPos(spindexPos);
+                robot.spin1.setPower(pos);
+                robot.spin2.setPower(-pos);
+            } else if (mode == 0){
+                robot.spin1.setPower(spinHoldPow);
+                robot.spin2.setPower(spinHoldPow);
+            } else {
+                robot.spin1.setPower(spindexPow);
+                robot.spin2.setPower(-spindexPow);
             }
             if (turretPos != 0.501){
                 robot.turr1.setPosition(turretPos);
@@ -39,14 +54,24 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (hoodPos != 0.501){
                 robot.hood.setPosition(hoodPos);
             }
-            TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
-            TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
-            TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
-            TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
-            TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
-            TELE.addData("hoodA", robot.hoodPos.getVoltage());
-            TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
-            TELE.addData("turretA", robot.turr1Pos.getVoltage());
+            // To check configuration of spindexer:
+            // Set "mode" to 1 and spindexPow to 0.1
+            // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
+            // Do the previous test again to confirm
+            // Set "mode" to 0 but keep spindexPos at 0.501
+            // Manually turn the spindexer until "spindexer pos" is set close to 0
+            // Check each spindexer voltage:
+                // If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
+                // If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
+            //TODO: @KeshavAnandCode do the above please
+
+            TELE.addData("spindexer pos", servo.getSpinPos());
+            TELE.addData("turret pos", servo.getTurrPos());
+            TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
+            TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
+            TELE.addData("hood pos", robot.hood.getPosition());
+            TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
+            TELE.addData("spindexer pow", robot.spin1.getPower());
             TELE.update();
         }
     }

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

@@ -1,89 +1,62 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
+import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.DigitalChannel;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
+@Config
 public class Robot {
 
     //Initialize Public Components
 
+    public static boolean usingLimelight = false;
+    public static boolean usingCamera = true;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
-
     public DcMotorEx backLeft;
-
     public DcMotorEx backRight;
-
     public DcMotorEx intake;
-
     public DcMotorEx transfer;
-
+    public PIDFCoefficients shooterPIDF;
+    public double shooterPIDF_P = 10.0;
+    public double shooterPIDF_I = 0.6;
+    public double shooterPIDF_D = 5.0;
+    public double shooterPIDF_F = 10.0;
+    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
-
     public Servo transferServo;
-
-    public Servo rejecter;
-
     public Servo turr1;
-
     public Servo turr2;
-
-    public Servo spin1;
-
-    public Servo spin2;
-
-    public DigitalChannel pin0;
-
-    public DigitalChannel pin1;
-    public DigitalChannel pin2;
-    public DigitalChannel pin3;
-    public DigitalChannel pin4;
-
-    public DigitalChannel pin5;
-
-    public AnalogInput analogInput;
-
-    public AnalogInput analogInput2;
-
+    public CRServo spin1;
+    public CRServo spin2;
     public AnalogInput spin1Pos;
-
     public AnalogInput spin2Pos;
-
-    public AnalogInput hoodPos;
-
     public AnalogInput turr1Pos;
-
-    public AnalogInput turr2Pos;
-
     public AnalogInput transferServoPos;
-
     public AprilTagProcessor aprilTagProcessor;
-
     public WebcamName webcam;
-
-    public DcMotorEx shooterEncoder;
-
     public RevColorSensorV3 color1;
-
     public RevColorSensorV3 color2;
-
     public RevColorSensorV3 color3;
+    public Limelight3A limelight;
 
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
-
+        //TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
         frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
         frontRight = hardwareMap.get(DcMotorEx.class, "fr");
         backLeft = hardwareMap.get(DcMotorEx.class, "bl");
@@ -97,51 +70,39 @@ public class Robot {
         backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
 
         intake = hardwareMap.get(DcMotorEx.class, "intake");
-        rejecter = hardwareMap.get(Servo.class, "rejecter");
 
         shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
 
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
-
+        //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        shooterEncoder = shooter1;
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
+        shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter1.setVelocity(1400);
+        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setVelocity(1400);
 
         hood = hardwareMap.get(Servo.class, "hood");
 
-        hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
-
         turr1 = hardwareMap.get(Servo.class, "t1");
 
-        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
-
         turr2 = hardwareMap.get(Servo.class, "t2");
 
-        turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
 
-        spin1 = hardwareMap.get(Servo.class, "spin1");
+        //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
+        spin1 = hardwareMap.get(CRServo.class, "spin1");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
 
-        spin2 = hardwareMap.get(Servo.class, "spin2");
+        spin2 = hardwareMap.get(CRServo.class, "spin2");
 
         spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
 
-        pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
-
-        pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
-
-        pin2 = hardwareMap.get(DigitalChannel.class, "pin2");
-
-        pin3 = hardwareMap.get(DigitalChannel.class, "pin3");
-
-        pin4 = hardwareMap.get(DigitalChannel.class, "pin4");
-
-        pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
-
-        analogInput = hardwareMap.get(AnalogInput.class, "analog");
-
-        analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
+        spin1.setDirection(DcMotorSimple.Direction.REVERSE);
+        spin2.setDirection(DcMotorSimple.Direction.REVERSE);
 
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
 
@@ -150,15 +111,19 @@ public class Robot {
         transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
 
         transfer.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
-
-        webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
+        transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
         color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
 
         color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
+
+        if (usingLimelight) {
+            limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        } else if (usingCamera) {
+            webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
+            aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
+        }
     }
 }

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

@@ -0,0 +1,58 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+@Config
+public class Servos {
+    //PID constants
+    // TODO: get PIDF constants
+    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
+    public static double spin_scalar = 1.0086;
+    public static double spin_restPos = 0.0;
+    public static double turret_scalar = 1.009;
+    public static double turret_restPos = 0.0;
+    Robot robot;
+    PIDFController spinPID;
+    PIDFController turretPID;
+
+    public Servos(HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+        spinPID = new PIDFController(spinP, spinI, spinD, spinF);
+        turretPID = new PIDFController(turrP, turrI, turrD, turrF);
+
+        turretPID.setTolerance(0.001);
+    }
+
+    // In the code below, encoder = robot.servo.getVoltage()
+
+    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);
+
+        return spinPID.calculate(this.getSpinPos(), pos);
+    }
+
+    public boolean spinEqual(double pos) {
+        return Math.abs(pos - this.getSpinPos()) < 0.02;
+    }
+
+    public double getTurrPos() {
+        return 1.0;
+
+    }
+
+    public double setTurrPos(double pos) {
+        return 1.0;
+    }
+
+    public boolean turretEqual(double pos) {
+        return true;
+    }
+}

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

@@ -0,0 +1,426 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
+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.libs.RR.MecanumDrive;
+
+public class Spindexer {
+    Robot robot;
+    Servos servos;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    double lastKnownSpinPos = 0.0;
+    MultipleTelemetry TELE;
+
+    PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
+
+    double spinCurrentPos = 0.0;
+
+    public int commandedIntakePosition = 0;
+
+    public double distanceRearCenter = 0.0;
+    public double distanceFrontDriver = 0.0;
+    public double distanceFrontPassenger = 0.0;
+
+    // For Use
+    enum RotatedBallPositionNames {
+        REARCENTER,
+        FRONTDRIVER,
+        FRONTPASSENGER
+    }
+    // Array of commandedIntakePositions with contents
+    // {RearCenter, FrontDriver, FrontPassenger}
+    static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
+    class spindexerBallRoatation {
+        int rearCenter = 0; // aka commanded Position
+        int frontDriver = 0;
+        int frontPassenger = 0;
+    }
+
+    enum IntakeState {
+        UNKNOWN_START,
+        UNKNOWN_MOVE,
+        UNKNOWN_DETECT,
+        INTAKE,
+        FINDNEXT,
+        MOVING,
+        FULL,
+        SHOOTNEXT,
+        SHOOTMOVING,
+        SHOOTWAIT,
+    };
+
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
+    public int unknownColorDetect = 0;
+    enum BallColor {
+        UNKNOWN,
+        GREEN,
+        PURPLE
+    };
+
+    class BallPosition {
+        boolean isEmpty = true;
+        int foundEmpty = 0;
+        BallColor ballColor = BallColor.UNKNOWN;
+    }
+
+    BallPosition[] ballPositions = new BallPosition[3];
+
+    public boolean init () {
+        return true;
+    }
+
+    public Spindexer(HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+        servos = new Servos(hardwareMap);
+        flywheel = new Flywheel(hardwareMap);
+        //TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        lastKnownSpinPos = servos.getSpinPos();
+
+        ballPositions[0] = new BallPosition();
+        ballPositions[1] = new BallPosition();
+        ballPositions[2] = new BallPosition();
+
+
+    }
+
+
+    double[] outakePositions =
+            {spindexer_outtakeBall1, spindexer_outtakeBall2, spindexer_outtakeBall3};
+
+    double[] intakePositions =
+            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
+
+    public int counter = 0;
+
+//    private double getTimeSeconds ()
+//    {
+//        return (double) System.currentTimeMillis()/1000.0;
+//    }
+
+//    public double getPos() {
+//        robot.spin1Pos.getVoltage();
+//        robot.spin1Pos.getMaxVoltage();
+//        return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
+//    }
+
+//    public void manageSpindexer() {
+//
+//    }
+
+    public void resetBallPosition (int pos) {
+        ballPositions[pos].isEmpty = true;
+        ballPositions[pos].foundEmpty = 0;
+        ballPositions[pos].ballColor = BallColor.UNKNOWN;
+    }
+
+    public void resetSpindexer () {
+        for (int i = 0; i < 3; i++) {
+            resetBallPosition(i);
+        }
+        currentIntakeState = IntakeState.UNKNOWN_START;
+    }
+
+    // Detects if a ball is found and what color.
+    // Returns true is there was a new ball found in Position 1
+    // FIXIT: Reduce number of times that we read the color sensors for loop times.
+    public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
+
+        boolean newPos1Detection = false;
+        int spindexerBallPos = 0;
+
+        // Read Distances
+        distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+        distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+        distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+
+        // Position 1
+        if (distanceRearCenter < 43) {
+
+            // Mark Ball Found
+            newPos1Detection = true;
+
+            if (detectRearColor) {
+                // Detect which color
+                double green = robot.color1.getNormalizedColors().green;
+                double red = robot.color1.getNormalizedColors().red;
+                double blue = robot.color1.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                // FIXIT - Add filtering to improve accuracy.
+                if (gP >= 0.4) {
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
+                } else {
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
+                }
+           }
+        }
+        // Position 2
+        // Find which ball position this is in the spindexer
+        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
+        if (distanceFrontDriver < 60) {
+            // reset FoundEmpty because looking for 3 in a row before reset
+            ballPositions[spindexerBallPos].foundEmpty = 0;
+            if (detectFrontColor) {
+                double green = robot.color2.getNormalizedColors().green;
+                double red = robot.color2.getNormalizedColors().red;
+                double blue = robot.color2.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                if (gP >= 0.4) {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
+                }
+            }
+        } else {
+            if (!ballPositions[spindexerBallPos].isEmpty) {
+                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
+                    resetBallPosition(spindexerBallPos);
+                }
+                ballPositions[spindexerBallPos].foundEmpty++;
+            }
+
+        }
+
+        // Position 3
+        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
+        if (distanceFrontPassenger < 33) {
+
+            // reset FoundEmpty because looking for 3 in a row before reset
+            ballPositions[spindexerBallPos].foundEmpty = 0;
+            if (detectFrontColor) {
+                double green = robot.color3.getNormalizedColors().green;
+                double red = robot.color3.getNormalizedColors().red;
+                double blue = robot.color3.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                if (gP >= 0.4) {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
+                }
+            }
+        } else {
+            if (!ballPositions[spindexerBallPos].isEmpty) {
+                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
+                    resetBallPosition(spindexerBallPos);
+                }
+                ballPositions[spindexerBallPos].foundEmpty++;
+            }
+        }
+
+//      TELE.addData("Velocity", velo);
+//      TELE.addLine("Detecting");
+//      TELE.addData("Distance 1", s1D);
+//      TELE.addData("Distance 2", s2D);
+//      TELE.addData("Distance 3", s3D);
+//      TELE.addData("B1", b1);
+//      TELE.addData("B2", b2);
+//      TELE.addData("B3", b3);
+//      TELE.update();
+
+        return newPos1Detection;
+    }
+
+    public void moveSpindexerToPos(double pos) {
+        spinCurrentPos = servos.getSpinPos();
+
+        double spindexPID = spinPID.calculate(spinCurrentPos, pos);
+
+        robot.spin1.setPower(spindexPID);
+        robot.spin2.setPower(-spindexPID);
+    }
+
+    public void stopSpindexer() {
+        robot.spin1.setPower(0);
+        robot.spin2.setPower(0);
+    }
+
+    public boolean isFull () {
+        return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
+    }
+    public boolean processIntake() {
+
+        switch (currentIntakeState) {
+            case UNKNOWN_START:
+                // For now just set position ONE if UNKNOWN
+                commandedIntakePosition = 0;
+                servos.setSpinPos(intakePositions[0]);
+                currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
+                break;
+            case UNKNOWN_MOVE:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
+                    stopSpindexer();
+                    detectBalls(true, true);
+                    unknownColorDetect = 0;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+            case UNKNOWN_DETECT:
+                if (unknownColorDetect >5) {
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                } else {
+                    detectBalls(true, true);
+                    unknownColorDetect++;
+                }
+                break;
+            case INTAKE:
+                // Ready for intake and Detecting a New Ball
+                if (detectBalls(true, false)) {
+                    ballPositions[commandedIntakePosition].isEmpty = false;
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                } else {
+                    // Maintain Position
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+            case FINDNEXT:
+                // Find Next Open Position and start movement
+                double currentSpindexerPos = servos.getSpinPos();
+                double commandedtravelDistance = 2.0;
+                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                    // Position 1
+                    commandedIntakePosition = 0;
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.MOVING;
+                    commandedtravelDistance = proposedTravelDistance;
+                }
+                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                    // Position 2
+                    commandedIntakePosition = 1;
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.MOVING;
+                    commandedtravelDistance = proposedTravelDistance;
+                }
+                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                    // Position 3
+                    commandedIntakePosition = 2;
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.MOVING;
+                    commandedtravelDistance = proposedTravelDistance;
+                }
+                if (currentIntakeState != Spindexer.IntakeState.MOVING) {
+                    // Full
+                    currentIntakeState = Spindexer.IntakeState.FULL;
+                }
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
+            case MOVING:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.INTAKE;
+                    stopSpindexer();
+                    detectBalls(false, false);
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            case FULL:
+                // Double Check Colors
+                detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
+                    // Error handling found an empty spot, get it ready for a ball
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                }
+                // Maintain Position
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
+            case SHOOTNEXT:
+                // Find Next Open Position and start movement
+                if (!ballPositions[0].isEmpty) {
+                    // Position 1
+                    commandedIntakePosition = 0;
+                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else if (ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
+                    // Position 2
+                    commandedIntakePosition = 1;
+                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else if (ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
+                    // Position 3
+                    commandedIntakePosition = 2;
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else {
+                    // Empty return to intake state
+                    currentIntakeState = IntakeState.FINDNEXT;
+                }
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                break;
+
+            case SHOOTMOVING:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
+                    ballPositions[commandedIntakePosition].isEmpty = true;
+                    // Advance to next full position and wait
+//                    commandedIntakePosition++;
+//                    if (commandedIntakePosition > 2) {
+//                        commandedIntakePosition = 0;
+//                    }
+//                    // Continue moving to next position
+//                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
+//                    currentIntakeState = Spindexer.IntakeState.MOVING;
+
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                }
+                break;
+
+            case SHOOTWAIT:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.INTAKE;
+                    stopSpindexer();
+                    detectBalls(true, false);
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            default:
+                // Statements to execute if no case matches
+        }
+        //TELE.addData("commandedIntakePosition", commandedIntakePosition);
+        //TELE.update();
+        // Signal a successful intake
+        return false;
+    }
+
+    public void update()
+    {
+    }
+}

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

@@ -0,0 +1,141 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import android.provider.Settings;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Targeting {
+    MultipleTelemetry TELE;
+
+    double cancelOffsetX = 7.071067811;
+    double cancelOffsetY = 7.071067811;
+    double unitConversionFactor = 0.95;
+
+    int tileSize = 24; //inches
+
+    public double robotInchesX, robotInchesY = 0.0;
+
+    public int robotGridX, robotGridY = 0;
+
+
+    public static class Settings {
+        public double flywheelRPM = 0.0;
+        public double hoodAngle = 0.0;
+
+        public Settings (double flywheelRPM, double hoodAngle) {
+            this.flywheelRPM = flywheelRPM;
+            this.hoodAngle = hoodAngle;
+        }
+    }
+
+    // Known settings discovered using shooter test.
+    // Keep the fidelity at 1 floor tile for now but we could also half it if more
+    // accuracy is needed.
+    public static final Settings[][] KNOWNTARGETING;
+    static {
+        KNOWNTARGETING = new Settings[6][6];
+        // ROW 0 - Closet to the goals
+        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
+        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
+        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
+        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
+        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
+        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
+        // ROW 1
+        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
+        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
+        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
+        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
+        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
+        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
+        // ROW 2
+        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
+        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
+        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
+        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
+        // ROW 3
+        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
+        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
+        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
+        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
+        // ROW 4
+        KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
+        KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
+        KNOWNTARGETING[4][2] = new Settings (4542.0, 0.1);
+        KNOWNTARGETING[4][3] = new Settings (4543.0, 0.1);
+        KNOWNTARGETING[4][4] = new Settings (4544.0, 0.1);
+        KNOWNTARGETING[4][5] = new Settings (4545.0, 0.1);
+        // ROW 1
+        KNOWNTARGETING[5][0] = new Settings (4550.0, 0.1);
+        KNOWNTARGETING[5][1] = new Settings (4551.0, 0.1);
+        KNOWNTARGETING[5][2] = new Settings (4552.0, 0.1);
+        KNOWNTARGETING[5][3] = new Settings (4553.0, 0.1);
+        KNOWNTARGETING[5][4] = new Settings (4554.0, 0.1);
+        KNOWNTARGETING[5][5] = new Settings (4555.0, 0.1);
+    }
+
+    public Targeting()
+    {
+    }
+
+    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
+        Settings recommendedSettings = new Settings(0.0, 0.0);
+
+        double cos45 = Math.cos(Math.toRadians(-45));
+        double sin45 = Math.sin(Math.toRadians(-45));
+        double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
+        double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
+
+        // Convert robot coordinates to inches
+        robotInchesX = rotatedX * unitConversionFactor;
+        robotInchesY = rotatedY * unitConversionFactor;
+
+        // Find approximate location in the grid
+        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+
+        //clamp
+        robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+        robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+
+        // basic search
+        if(!interpolate) {
+            if ((robotGridY < 6) && (robotGridX <6)) {
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+            }
+            return recommendedSettings;
+        } else {
+
+            // bilinear interpolation
+            int x0 = robotGridX;
+            int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            int y0 = gridY;
+            int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+
+            double x = (robotInchesX - (x0 * tileSize)) / tileSize;
+            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
+
+            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
+            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
+            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
+            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
+
+            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
+            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
+            double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
+            double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
+
+            recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
+            recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
+
+            return recommendedSettings;
+        }
+    }
+}

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

@@ -0,0 +1,147 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+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 org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Config
+public class Turret {
+
+    public static double turretTolerance = 0.02;
+    public static double turrPosScalar = 1.009;
+    public static double turret180Range = 0.4;
+    public static double turrDefault = 0.4;
+    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 deltaAngleThreshold = 0.02;
+    public static double angleMultiplier = 0.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    AprilTagWebcam webcam;
+    private int obeliskID = 0;
+    private double turrPos = 0.0;
+    private double offset = 0.0;
+    private double bearing = 0.0;
+
+
+
+    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
+        this.TELE = tele;
+        this.robot = rob;
+        this.webcam = cam;
+    }
+
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3);
+
+    }
+
+    public void manualSetTurret(double pos){
+        robot.turr1.setPosition(pos);
+        robot.turr2.setPosition(1-pos);
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
+    }
+
+    public double getBearing() {
+        if (redAlliance) {
+            AprilTagDetection d24 = webcam.getTagById(24);
+            if (d24 != null) {
+                bearing = d24.ftcPose.bearing;
+                return bearing;
+            } else {
+                return 1000.0;
+            }
+        } else {
+            AprilTagDetection d20 = webcam.getTagById(20);
+            if (d20 != null) {
+                bearing = d20.ftcPose.bearing;
+                return bearing;
+            } else {
+                return 1000.0;
+            }
+        }
+    }
+
+    public int detectObelisk() {
+        AprilTagDetection id21 = webcam.getTagById(21);
+        AprilTagDetection id22 = webcam.getTagById(22);
+        AprilTagDetection id23 = webcam.getTagById(23);
+        if (id21 != null) {
+            obeliskID = 21;
+        } else if (id22 != null) {
+            obeliskID = 22;
+        } else if (id23 != null) {
+            obeliskID = 23;
+        }
+        return obeliskID;
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+
+
+    /*
+        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
+     */
+    public void trackGoal(Pose2d deltaPos) {
+
+        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
+
+        // Angle from robot to goal in robot frame
+        double desiredTurretAngleDeg = Math.toDegrees(
+                Math.atan2(deltaPos.position.y, deltaPos.position.x)
+        );
+
+        // Robot heading (field → robot)
+        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
+
+        // 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 ---------------- */
+//
+        double tagBearingDeg = getBearing();  // + = target is to the left
+
+        if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual) {
+            // Slowly learn turret offset (persistent calibration)
+            offset -= tagBearingDeg * errorLearningRate;
+        }
+
+        turretAngleDeg += offset;
+
+        /* ---------------- ANGLE → SERVO ---------------- */
+
+        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to servo range
+        turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
+
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1.0 - turretPos);
+
+        /* ---------------- TELEMETRY ---------------- */
+
+        TELE.addData("Turret Angle", turretAngleDeg);
+        TELE.addData("Bearing", tagBearingDeg);
+        TELE.addData("Offset", offset);
+    }
+
+}