moved teleop LL stuff to LLManager - 3 instances were being created lol

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

@@ -0,0 +1,606 @@
+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 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.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+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.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoClose_V3 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
+    LimelightManager limelightManager;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.1;
+
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
+    double powPID = 0.0;
+    double bearing = 0.0;
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            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);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                limelightManager.update();
+                int id = limelightManager.detectFiducial();
+
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
+
+                TELE.addData("Fiducial ID", id);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redClose : turret_blueClose;
+                    double turretPID = servo.setTurrPos(turretTarget);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turretTarget);
+                }
+                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;
+                }
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                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();
+                    ticker++;
+                }
+                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) {
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPower(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = spindexer_intakePos1;
+            double stamp = 0.0;
+            int ticker = 0;
+            double pow = 1.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                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 (!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();
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                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;
+                }
+            }
+        };
+    }
+
+    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++;
+
+                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);
+
+                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 FlywheelV2();
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
+
+        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);
+
+        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);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .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 turrPID;
+
+            if (redAlliance){
+                turrPID = servo.setTurrPos(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 = servo.setTurrPos(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.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            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 ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(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(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(AUTO_CLOSE_VEL)
+                    )
+            );
+
+            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() {
+        limelightManager.update();
+        bearing = limelightManager.getBearing();
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        
+        // Define sequences based on obelisk configuration
+        double[][] sequences = {
+            {1, 2, 3}, {1, 3, 2}, {2, 1, 3}, {2, 3, 1}, {3, 1, 2}, {3, 2, 1}
+        };
+
+        double[] sequence = null;
+        
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[0];      // 1,2,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[2]; // 2,1,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[4]; // 3,1,2
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[0];
+                else if (b2 == 2) sequence = sequences[2];
+                else if (b3 == 2) sequence = sequences[4];
+            } else sequence = sequences[0];
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[2];      // 2,1,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[0]; // 1,2,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[3]; // 2,3,1
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[2];
+                else if (b2 == 2) sequence = sequences[0];
+                else if (b3 == 2) sequence = sequences[3];
+            } else sequence = sequences[2];
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[4];      // 3,1,2
+                else if (b2 == 2 && b1 == b3) sequence = sequences[5]; // 3,2,1
+                else if (b3 == 2 && b1 == b2) sequence = sequences[0]; // 1,2,3
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[4];
+                else if (b2 == 2) sequence = sequences[5];
+                else if (b3 == 2) sequence = sequences[0];
+            } else sequence = sequences[4];
+        } else sequence = sequences[0];
+
+        executeShootingSequence(sequence);
+        TELE.update();
+    }
+
+    private void executeShootingSequence(double[] sequence) {
+        double[] ballPositions = {
+            spindexer_outtakeBall1,
+            spindexer_outtakeBall2,
+            spindexer_outtakeBall3
+        };
+
+        for (double ball : sequence) {
+            Actions.runBlocking(
+                    new SequentialAction(
+                            spindex(ballPositions[(int) ball - 1], AUTO_CLOSE_VEL),
+                            Shoot(AUTO_CLOSE_VEL)
+                    )
+            );
+        }
+    }
+}

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

@@ -0,0 +1,619 @@
+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 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.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+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.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoFar_V1 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
+    LimelightManager limelightManager;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.1;
+
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
+    double powPID = 0.0;
+    double bearing = 0.0;
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            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);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                limelightManager.update();
+                int id = limelightManager.detectFiducial();
+
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
+
+                TELE.addData("Fiducial ID", id);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
+                    double turretPID = servo.setTurrPos(turretTarget);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turretTarget);
+                }
+                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;
+                }
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                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();
+                    ticker++;
+                }
+                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) {
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPower(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = spindexer_intakePos1;
+            double stamp = 0.0;
+            int ticker = 0;
+            double pow = 1.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                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 (!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();
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                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;
+                }
+            }
+        };
+    }
+
+    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++;
+
+                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);
+
+                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 FlywheelV2();
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
+
+        //TODO: add positions to develop auto
+        
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
+                .strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = servo.setTurrPos(turret_detectRedClose);
+            } else {
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
+            }
+
+            robot.turr1.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAutoFar);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            initShooter(AUTO_FAR_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+            
+            Actions.runBlocking(park.build());
+
+            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() {
+        limelightManager.update();
+        bearing = limelightManager.getBearing();
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        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)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        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)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        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)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        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)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        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)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        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/Blue_V2.java

@@ -178,8 +178,8 @@ public class Blue_V2 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    robot.turr1.setPower(turret_blue);
-                    robot.turr2.setPower(1 - turret_blue);
+                    robot.turr1.setPower(turret_blueClose);
+                    robot.turr2.setPower(1 - turret_blueClose);
                     return false;
                 } else {
                     return true;
@@ -541,8 +541,8 @@ public class Blue_V2 extends LinearOpMode {
 
             robot.hood.setPosition(hoodAuto);
 
-            robot.turr1.setPower(turret_detectBlue);
-            robot.turr2.setPower(1 - turret_detectBlue);
+            robot.turr1.setPower(turret_detectBlueClose);
+            robot.turr2.setPower(1 - turret_detectBlueClose);
 
             robot.transferServo.setPosition(transferServo_out);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red_V2.java

@@ -169,10 +169,10 @@ public class Red_V2 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    double turretPID = servo.setTurrPos(turret_red);
+                    double turretPID = servo.setTurrPos(turret_redClose);
                     robot.turr1.setPower(turretPID);
                     robot.turr2.setPower(-turretPID);
-                    return !servo.turretEqual(turret_red);
+                    return !servo.turretEqual(turret_redClose);
                 } else {
                     return true;
                 }

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 +12,22 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static double x1 = 50, y1 = 0, h1 = 0;
-
-    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
-
-    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
-
-    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
-
-    public static double tx = 0, ty = 0, th = 0;
-
     public static Pose2d goalPose = new Pose2d(-15, 0, 0);
 
-
-
     public static double rx1 = 45, ry1 = -7, 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 = 45, by1 = 6, bh1 = 0;
-
     public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
-
     public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
-
     public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
-
     public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
 
+    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
+
     public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
 
 }

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

@@ -7,9 +7,9 @@ public class ServoPositions {
 
     public static double spindexer_intakePos1 = 0.34;
 
-    public static double spindexer_intakePos3 = 0.5;
+    public static double spindexer_intakePos2 = 0.5;
 
-    public static double spindexer_intakePos2 = 0.66;
+    public static double spindexer_intakePos3 = 0.66;
 
     public static double spindexer_outtakeBall3 = 0.42;
 
@@ -26,16 +26,20 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.55;
 
-    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 = 0.42;
-    public static double turret_blue = 0.38;
+    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 = 0.40;
 
 }

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

@@ -20,4 +20,5 @@ public class ShooterVars {
 
     // VELOCITY CONSTANTS
     public static int AUTO_CLOSE_VEL = 3025; //3300;
+    public static int AUTO_FAR_VEL = 4000; //TODO: test this
 }

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

@@ -350,15 +350,28 @@ public class TeleopV2 extends LinearOpMode {
                     overrideTurr = true;
                     turretPos = servo.getTurrPos() - (bearing/1300);
                     TELE.addData("Bear", bearing);
-                    if (camTicker < 8){
-                        error += bearing/1300; //adds error in first 8 frames of seeing the tag to see how much to adjust the default pos
+
+                    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;
                         }
+                    }
+
                     camTicker++;
+
                 }
 
 
             } else {
                 camTicker = 0;
+                overrideTurr = false;
+
             }
 
             if (manualTurret) {

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

@@ -0,0 +1,797 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+
+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.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.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
+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 TeleopV3 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    LimelightManager limelightManager;
+
+    public static double manualVel = 3000;
+    public static double hoodDefaultPos = 0.5;
+    public static double desiredTurretAngle = 180;
+    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;
+    boolean intake = false;
+    boolean reject = false;
+    double xOffset = 0.0;
+    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<>();
+    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<>();
+    boolean oddBallColor = false;
+    double hoodOffset = 0.0;
+    boolean shootA = true;
+    boolean shootB = true;
+    boolean shootC = true;
+    boolean manualTurret = false;
+    List<Integer> shootOrder = new ArrayList<>();
+    boolean outtake1 = false;
+    boolean outtake2 = false;
+    boolean outtake3 = false;
+    boolean overrideTurr = false;
+    private boolean shootAll = false;
+    private double transferStamp = 0.0;
+    private int tickerA = 1;
+    private boolean transferIn = false;
+    double turretPID = 0.0;
+    double turretPos = 0.5;
+    double spindexPID = 0.0;
+    double spindexPos = spindexer_intakePos1;
+    double error = 0.0;
+    double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0, spinningPow = 0.15;
+    boolean reverse = false;
+    int intakeTicker = 0;
+
+    @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);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        servo = new Servos(hardwareMap);
+        flywheel = new Flywheel();
+        drive = new MecanumDrive(hardwareMap, teleStart);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+
+        if (redAlliance) {
+            limelightManager.switchMode(LimelightManager.LimelightMode.RED_GOAL);
+        } else {
+            limelightManager.switchMode(LimelightManager.LimelightMode.BLUE_GOAL);
+        }
+
+        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;
+
+            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);
+
+            // PID SERVOS
+            turretPID = servo.setTurrPos(turretPos);
+            robot.turr1.setPower(turretPID);
+            robot.turr2.setPower(-turretPID);
+
+            if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
+                spindexPID = servo.setSpinPos(spindexPos);
+                robot.spin1.setPower(spindexPID);
+                robot.spin2.setPower(-spindexPID);
+            } else {
+                robot.spin1.setPower(0);
+                robot.spin2.setPower(0);
+            }
+
+            // INTAKE
+            if (gamepad1.right_bumper) {
+                robot.transferServo.setPosition(transferServo_out);
+                intakeTicker++;
+                if (intakeTicker % 16 == 0) {
+                    spinCurrentPos = servo.getSpinPos();
+                    if (Math.abs(spinCurrentPos - spinInitPos) == 0.0) {
+                        reverse = !reverse;
+                    }
+                    spinInitPos = spinCurrentPos;
+                }
+                if (reverse) {
+                    robot.spin1.setPower(spinningPow);
+                    robot.spin2.setPower(-spinningPow);
+                } else {
+                    robot.spin1.setPower(-spinningPow);
+                    robot.spin2.setPower(spinningPow);
+                }
+                robot.intake.setPower(1);
+                intakeStamp = getRuntime();
+                TELE.addData("Reverse?", reverse);
+                TELE.update();
+            } else if (gamepad1.left_bumper) {
+                robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
+                spindexPos = spindexer_intakePos2;
+                intakeTicker = 0;
+            } else {
+                if (getRuntime() - intakeStamp < 1) {
+                    robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
+                } else {
+                    robot.intake.setPower(0);
+                }
+                intakeTicker = 0;
+            }
+
+            //COLOR:
+
+            double s1D = robot.color1.getDistance(DistanceUnit.MM);
+            double s2D = robot.color2.getDistance(DistanceUnit.MM);
+            double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+            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);
+
+                s1G.add(gP);
+
+                if (gP >= 0.43) {
+                    s1.add(true);
+                } else {
+                    s1.add(false);
+                }
+
+                s1T.add(getRuntime());
+
+            }
+
+            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);
+
+                s2G.add(gP);
+
+                if (gP >= 0.43) {
+                    s2.add(true);
+                } else {
+                    s2.add(false);
+                }
+
+                s2T.add(getRuntime());
+            }
+
+            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);
+
+                s3G.add(gP);
+
+                if (gP >= 0.43) {
+                    s3.add(true);
+                } else {
+                    s3.add(false);
+                }
+
+                s3T.add(getRuntime());
+            }
+
+            if (!s1.isEmpty()) {
+                green1 = checkGreen(s1, s1T);
+            }
+            if (!s2.isEmpty()) {
+                green2 = checkGreen(s2, s2T);
+
+            }
+            if (!s3.isEmpty()) {
+                green3 = checkGreen(s3, s3T);
+            }
+
+            //SHOOTER:
+
+            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
+
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            robot.transfer.setPower(1);
+
+            double offset;
+
+            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;
+            double goalY = 0;
+
+            double dx = goalX - robotX;  // delta x from robot to goal
+            double dy = goalY - robotY;  // delta y from robot to goal
+
+            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
+
+            desiredTurretAngle += manualOffset;
+
+            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
+
+            if (offset > 135) {
+                offset -= 360;
+            }
+
+            //TODO: test the camera teleop code
+            double pos = turrDefault + (error / 8); // adds the overall error to the default
+
+            TELE.addData("offset", offset);
+
+            pos -= offset * (0.9 / 360);
+
+            if (pos < 0.02) {
+                pos = 0.02;
+            } else if (pos > 0.97) {
+                pos = 0.97;
+            }
+
+            if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1) { //not moving
+                limelightManager.update();
+                double bearing = limelightManager.getBearing();
+                
+                if (limelightManager.getLatestResult() != null && limelightManager.getLatestResult().isValid()) {
+                    overrideTurr = true;
+                    turretPos = servo.getTurrPos() - (bearing / 1300);
+
+                    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;
+                        }
+                    }
+                    camTicker++;
+                    TELE.addData("tx", bearing);
+                    TELE.addData("ty", limelightManager.getLatestResult().getTy());
+                }
+
+            } else {
+                camTicker = 0;
+                overrideTurr = false;
+            }
+
+            if (manualTurret) {
+                pos = turrDefault + (manualOffset / 100);
+            }
+
+            if (!overrideTurr) {
+                turretPos = pos;
+            }
+
+            if (gamepad2.dpad_right) {
+                manualOffset -= 2;
+            } else if (gamepad2.dpad_left) {
+                manualOffset += 2;
+            }
+
+            //VELOCITY AUTOMATIC
+
+            if (autoVel) {
+                vel = velPrediction(distanceToGoal);
+            } else {
+                vel = manualVel;
+            }
+
+            if (gamepad2.right_stick_button) {
+                autoVel = true;
+            } else if (gamepad2.right_stick_y < -0.5) {
+                autoVel = false;
+                manualVel = 4100;
+            } else if (gamepad2.right_stick_y > 0.5) {
+                autoVel = false;
+                manualVel = 2700;
+            } else if (gamepad2.right_stick_x > 0.5) {
+                autoVel = false;
+                manualVel = 3600;
+            } else if (gamepad2.right_stick_x < -0.5) {
+                autoVel = false;
+                manualVel = 3100;
+            }
+
+            //HOOD:
+
+            if (autoHood) {
+                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;
+
+            }
+
+            //TODO: FIX THIS GOOFY THING BECAUSE IT SUCKS @KeshavAnandCode
+            if (gamepad2.left_stick_x > 0.5) {
+                manualTurret = false;
+            } else if (gamepad2.left_stick_x < -0.5) {
+                manualOffset = 0;
+                manualTurret = false;
+                if (gamepad2.left_bumper) {
+                    drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
+                    sleep(1200);
+                }
+            }
+
+            if (gamepad2.left_stick_y < -0.5) {
+                autoHood = true;
+            } else if (gamepad2.left_stick_y > 0.5) {
+                autoHood = false;
+                hoodOffset = 0;
+                if (gamepad2.left_bumper) {
+                    xOffset = robotX;
+                    yOffset = robotY;
+                    headingOffset = robotHeading;
+                }
+            }
+
+            if (shootAll) {
+
+                TELE.addData("100% works", shootOrder);
+
+                intake = false;
+                reject = false;
+
+                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
+                    int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
+                    boolean shootingDone = false;
+
+                    if (!outtake1) {
+                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
+                    }
+                    if (!outtake2) {
+                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                    }
+                    if (!outtake3) {
+                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
+                    }
+
+                    switch (currentSlot) {
+                        case 1:
+                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
+                            TELE.addData("shootA", shootA);
+
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootA;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 2:
+                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
+                            TELE.addData("shootB", shootB);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootB;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 3:
+                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
+                            TELE.addData("shootC", shootC);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootC;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                    }
+
+                    // Remove from the list only if shooting is complete
+                    if (shootingDone) {
+                        shootOrder.remove(0);
+                        shootStamp2 = getRuntime();
+
+                    }
+
+                } else {
+                    // Finished shooting all balls
+                    spindexPos = spindexer_intakePos1;
+                    shootA = true;
+                    shootB = true;
+                    shootC = true;
+                    reject = false;
+                    intake = true;
+                    shootAll = false;
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+
+                    overrideTurr = false;
+
+                }
+
+                if (gamepad1.squareWasPressed()) {
+                    square = true;
+                    shootStamp = getRuntime();
+                    shootStamp2 = getRuntime();
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+                }
+
+                if (gamepad1.circleWasPressed()) {
+                    circle = true;
+                    shootStamp = getRuntime();
+                    shootStamp2 = getRuntime();
+
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+
+                }
+
+                if (gamepad1.triangleWasPressed()) {
+                    triangle = true;
+                    shootStamp = getRuntime();
+                    shootStamp2 = getRuntime();
+
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+
+                }
+
+                if (square || circle || triangle) {
+
+                    // Count green balls
+                    int greenCount = 0;
+                    if (green1) greenCount++;
+                    if (green2) greenCount++;
+                    if (green3) greenCount++;
+
+                    // Determine the odd ball color
+                    oddBallColor = greenCount < 2; // true = green, false = purple
+
+                    shootOrder.clear();
+
+                    // Determine shooting order based on button pressed
+                    // square = odd ball first, triangle = odd ball second, circle = odd ball third
+                    if (square) {
+                        // Odd ball first
+                        addOddThenRest(shootOrder, oddBallColor);
+
+                    } else if (triangle) {
+                        // Odd ball second
+                        addOddInMiddle(shootOrder, oddBallColor);
+                    } else if (circle) {
+                        // Odd ball last
+                        addOddLast(shootOrder, oddBallColor);
+                    }
+
+                    circle = false;
+                    square = false;
+                    triangle = false;
+
+                }
+
+                // Right bumper shoots all balls fastest, ignoring colors
+                if (gamepad1.crossWasPressed()) {
+                    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);
+                    }
+
+                    if (!shootOrder.contains(3)) {
+                        shootOrder.add(3);
+                    }
+
+                    if (!shootOrder.contains(2)) {
+                        shootOrder.add(2);
+                    }
+
+                    if (!shootOrder.contains(1)) {
+                        shootOrder.add(1);
+                    }
+
+                    shootAll = true;
+                }
+
+                //EXTRA STUFFINESS:
+
+                drive.updatePoseEstimate();
+
+                for (LynxModule hub : allHubs) {
+                    hub.clearBulkCache();
+                }
+
+                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());
+                TELE.addData("distanceToGoal", distanceToGoal);
+                TELE.addData("hood", robot.hood.getPosition());
+                TELE.addData("targetVel", vel);
+
+                TELE.addData("shootOrder", shootOrder);
+                TELE.addData("oddColor", oddBallColor);
+
+                TELE.update();
+
+                ticker++;
+            }
+        }
+    }
+    // Helper method
+    private boolean checkGreen(List<Boolean> s, List<Double> sT) {
+        if (s.isEmpty()) return false;
+
+        double lastTime = sT.get(sT.size() - 1);
+        int countTrue = 0;
+        int countWindow = 0;
+
+        for (int i = 0; i < s.size(); i++) {
+            if (lastTime - sT.get(i) <= 3.0) {  // element is within 2s of last
+                countWindow++;
+                if (s.get(i)) {
+                    countTrue++;
+                }
+            }
+        }
+
+        if (countWindow == 0) return false; // avoid divide by zero
+        return countTrue > countWindow / 2.0; // more than 50% true
+    }
+
+    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
+        // Set spin positions
+        spindexPos = spindexer;
+
+        // Check if spindexer has reached the target position
+        if (spinOk || getRuntime() - stamp > 1.5) {
+            if (tickerA == 1) {
+                transferStamp = getRuntime();
+                tickerA++;
+                TELE.addLine("tickerSet");
+            }
+
+            if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                robot.transferServo.setPosition(transferServo_in);
+                transferIn = true;
+                TELE.addLine("transferring");
+
+                return true; // still in progress
+
+            } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                robot.transferServo.setPosition(transferServo_out);
+                transferIn = false; // reset for next shot
+                tickerA = 1;        // reset ticker
+                transferStamp = 0.0;
+
+                TELE.addLine("shotFinished");
+
+                return false;       // finished shooting
+            } else {
+                TELE.addLine("sIP");
+                return true; // still in progress
+            }
+        } else {
+            robot.transferServo.setPosition(transferServo_out);
+            tickerA = 1;
+            transferStamp = getRuntime();
+            transferIn = false;
+            return true; // still moving spin
+        }
+    }
+
+    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;
+
+            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) {
+        // Odd ball first
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddInMiddle(List<Integer> order, boolean oddColor) {
+
+        boolean[] used = new boolean[4];   // index 1..3
+
+        // 1) Add a NON-odd ball first
+        for (int i = 1; i <= 3; i++) {
+            if (getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 2) Add the odd ball second
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) == oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 3) Add the remaining non-odd ball third
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        TELE.addData("works", order);
+        TELE.addData("oddBall", oddColor);
+        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);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        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;
+        }
+        return false; // default
+    }
+
+    boolean ballIn(int slot) {
+        List<Double> times =
+                slot == 1 ? s1T :
+                slot == 2 ? s2T :
+                slot == 3 ? s3T : null;
+
+        if (times == null || times.isEmpty()) return false;
+
+        return times.get(times.size() - 1) > getRuntime() - 2;
+    }
+
+    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));
+        }
+    }
+
+}

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

@@ -5,6 +5,7 @@ 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;
 
@@ -12,25 +13,45 @@ 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 = 1.0;
+    public static double manualPow = 0.15;
     double stamp = 0;
     int ticker = 0;
-    boolean b1 = false;
-    boolean b2 = false;
-    boolean b3 = false;
     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());
@@ -40,32 +61,44 @@ public class IntakeTest extends LinearOpMode {
         if (isStopRequested()) return;
 
         while (opModeIsActive()) {
-            //TODO: test tele intake with new spindexer
             if (mode == 0) {
-                if (gamepad1.cross) {
-                    ticker = 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 (ticker == 0) {
-                        stamp = getRuntime();
-                    }
-                    ticker++;
-                    if (getRuntime() - stamp < 0.5) {
-                        robot.intake.setPower(-1);
+
+                    if (getRuntime() - stamp < 1) {
+                        robot.intake.setPower(-(getRuntime() - stamp)*2);
                     } else {
                         robot.intake.setPower(0);
                     }
+
+                    ticker = 0;
                 }
-            //TODO: test this monstrosity
             } else if (mode == 1) {
 
-                if (gamepad1.cross){
+                if (gamepad1.right_bumper && intake){
                     robot.intake.setPower(1);
-                } else if (gamepad1.circle){
+                } else if (gamepad1.left_bumper){
                     robot.intake.setPower(-1);
                 } else {
                     robot.intake.setPower(0);
@@ -74,8 +107,8 @@ public class IntakeTest extends LinearOpMode {
                 colorDetect();
                 spindexer();
 
-                if (b1 && steadySpin && getRuntime() - stamp > 1.0){
-                    if (!b2){
+                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)){
@@ -83,7 +116,7 @@ public class IntakeTest extends LinearOpMode {
                         } else if (servo.spinEqual(spindexer_intakePos3)){
                             spindexerPos = spindexer_intakePos1;
                         }
-                    } else if (!b3){
+                    } else if (!ballIn(3)){
                         if (servo.spinEqual(spindexer_intakePos1)){
                             spindexerPos = spindexer_intakePos3;
                         } else if (servo.spinEqual(spindexer_intakePos2)){
@@ -94,69 +127,97 @@ public class IntakeTest extends LinearOpMode {
                     }
                 }
 
-            } else if (mode == 2){ // switch to this mode before switching modes
+            } 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", b1);
-            TELE.addData("B2", b2);
-            TELE.addData("B3", b3);
+            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() {
-        // ----- COLOR 1 -----
-        double green1 = robot.color1.getNormalizedColors().green;
-        double blue1 = robot.color1.getNormalizedColors().blue;
-        double red1 = robot.color1.getNormalizedColors().red;
-
-        b1 = robot.color1.getDistance(DistanceUnit.MM) < 40;
-
-        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;
-
-        b2 = robot.color2.getDistance(DistanceUnit.MM) < 40;
-
-        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;
-
-        b3 = robot.color3.getDistance(DistanceUnit.MM) < 30;
-
-        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));
+        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() {
-        if (!servo.spinEqual(spindexerPos)){
+        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

@@ -1,18 +1,23 @@
 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 org.firstinspires.ftc.teamcode.utils.Robot;
+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, 2, and 3 are for obelisk; 4 is for blue track; 5 is for red track
+    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
-    int obeliskPipe = 1;
     @Override
     public void runOpMode() throws InterruptedException {
         Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
@@ -33,17 +38,16 @@ public class LimelightTest extends LinearOpMode {
                     }
                 }
             } else if (mode == 1){
-                limelight.pipelineSwitch(obeliskPipe);
+                limelight.pipelineSwitch(1);
                 LLResult result = limelight.getLatestResult();
                 if (result != null && result.isValid()) {
-                    TELE.addData("ID", obeliskPipe+20);
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        int id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
                         TELE.update();
-                } else {
-                    if (obeliskPipe >= 3){
-                        obeliskPipe = 1;
-                    } else {
-                        obeliskPipe++;
                     }
+
                 }
             } else if (mode == 2){
                 limelight.pipelineSwitch(4);

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

@@ -0,0 +1,104 @@
+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 > 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;
+
+            // --- 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/LimelightManager.java

@@ -0,0 +1,103 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import java.util.List;
+
+@Config
+public class LimelightManager {
+    private Limelight3A limelight;
+    private LLResult lastResult;
+    private int lastFiducialId = -1;
+    private double lastBearing = 0.0;
+
+    public static final int PIPELINE_DEFAULT = 1;
+    public static final int PIPELINE_BLUE_DETECTION = 2;
+    public static final int PIPELINE_RED_DETECTION = 3;
+
+    public enum LimelightMode {
+        OBELISK_DETECTION(PIPELINE_DEFAULT),
+        BLUE_GOAL(PIPELINE_BLUE_DETECTION),
+        RED_GOAL(PIPELINE_RED_DETECTION);
+
+        public final int pipeline;
+
+        LimelightMode(int pipeline) {
+            this.pipeline = pipeline;
+        }
+    }
+
+    public LimelightManager(HardwareMap hardwareMap, boolean enabled) {
+        if (enabled) {
+            this.limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        }
+    }
+
+    public void init() {
+        if (limelight != null) {
+            limelight.start();
+        }
+    }
+
+    public void switchMode(LimelightMode mode) {
+        if (limelight != null) {
+            limelight.pipelineSwitch(mode.pipeline);
+        }
+    }
+
+    public void setPipeline(int pipeline) {
+        if (limelight != null) {
+            limelight.pipelineSwitch(pipeline);
+        }
+    }
+
+    public void update() {
+        if (limelight != null) {
+            lastResult = limelight.getLatestResult();
+            if (lastResult != null && lastResult.isValid()) {
+                lastBearing = lastResult.getTx();
+            }
+        }
+    }
+
+    public double getBearing() {
+        return lastBearing;
+    }
+
+    public int detectFiducial() {
+        if (lastResult != null && lastResult.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = lastResult.getFiducialResults();
+            if (!fiducials.isEmpty()) {
+                lastFiducialId = fiducials.get(0).getFiducialId();
+                return lastFiducialId;
+            }
+        }
+        return -1;
+    }
+
+    public int getLastFiducialId() {
+        return lastFiducialId;
+    }
+
+    public boolean isFiducialDetected(int id) {
+        return lastFiducialId == id;
+    }
+
+    public LLResult getLatestResult() {
+        return lastResult;
+    }
+
+    public boolean isConnected() {
+        return limelight != null;
+    }
+
+    public Limelight3A getLimelight() {
+        return limelight;
+    }
+}

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

@@ -52,8 +52,8 @@ public class PositionalServoProgrammer extends LinearOpMode {
                 robot.turr1.setPower(turrHoldPow);
                 robot.turr2.setPower(turrHoldPow);
             } else {
-                robot.spin1.setPower(turretPow);
-                robot.spin2.setPower(-turretPow);
+                robot.turr1.setPower(turretPow);
+                robot.turr2.setPower(-turretPow);
             }
             if (transferPos != 0.501){
                 robot.transferServo.setPosition(transferPos);

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

@@ -20,70 +20,43 @@ public class Robot {
 
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
-
     public DcMotorEx backLeft;
-
     public DcMotorEx backRight;
-
     public DcMotorEx intake;
-
     public DcMotorEx transfer;
-
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
-
     public Servo transferServo;
-
     public Servo rejecter;
-
     public CRServo turr1;
-
     public CRServo turr2;
-
     public CRServo spin1;
-
     public CRServo 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 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 static boolean usingLimelight = true;
+
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
@@ -169,5 +142,9 @@ public class Robot {
         color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
+
+        if (usingLimelight){
+            limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        }
     }
 }

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

@@ -4,8 +4,6 @@ import com.acmerobotics.dashboard.config.Config;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import org.firstinspires.ftc.teamcode.utils.Robot;
-
 @Config
 public class Servos {
     Robot robot;
@@ -16,7 +14,7 @@ public class Servos {
 
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 1.8, spinI = 0, spinD = 0.03, spinF = 0.03;
+    public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
     public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
 
     public static double spin_scalar = 1.0086;
@@ -43,7 +41,7 @@ public class Servos {
     }
 
     public boolean spinEqual(double pos) {
-        return Math.abs(pos - this.getSpinPos()) < 0.01;
+        return Math.abs(pos - this.getSpinPos()) < 0.02;
     }
 
     public double getTurrPos() {