test commit 3

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

@@ -2,26 +2,47 @@ package org.firstinspires.ftc.teamcode.autonomous;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos0;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
 
+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.PoseVelocity2d;
+import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
+import com.acmerobotics.roadrunner.ftc.PinpointIMU;
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
@@ -32,32 +53,20 @@ import org.firstinspires.ftc.teamcode.utils.Turret;
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class Auto_LT_Close extends LinearOpMode {
     public static double shoot0Vel = 2300, shoot0Hood = 0.93;
-    public static double spindexerSpeedIncrease = 0.008;
+    public static double velGate0Start = 2700, hoodGate0Start = 0.6;
 
-    // These values are ADDED to turrDefault
-    public static double redObeliskTurrPos1 = 0.12;
-    public static double redObeliskTurrPos2 = 0.13;
-    public static double redObeliskTurrPos3 = 0.14;
-    public static double blueObeliskTurrPos1 = -0.12;
-    public static double blueObeliskTurrPos2 = -0.13;
-    public static double blueObeliskTurrPos3 = -0.14;
-    public static double redTurretShootPos = 0.1;
-    public static double blueTurretShootPos = -0.14;
+    public static double velGate0End = 2700, hoodGate0End = 0.35;
+    public static double hood0MoveTime = 2;
+    public static double spindexerSpeedIncrease = 0.014;
 
-    double obeliskTurrPos1 = 0.0;
-    double obeliskTurrPos2 = 0.0;
-    double obeliskTurrPos3 = 0.0;
-
-    double turretShootPos = 0.0;
-
-    public static double shootAllTime = 2;
+    public static double shootAllTime  = 6.0;
     public static double intake1Time = 3.3;
-    public static double intake2Time = 3.8;
+    public static double intake2Time = 4.2;
 
-    public static double intake3Time = 4.2;
+    public static double intake3Time = 5.4;
 
-    public static double flywheel0Time = 1.5;
-    public static double pickup1Speed = 12;
+    public static double flywheel0Time = 1.9;
+    public static double pickup1Speed = 14;
     // ---- POSITION TOLERANCES ----
     public static double posXTolerance = 5.0;
     public static double posYTolerance = 5.0;
@@ -66,7 +75,23 @@ public class Auto_LT_Close extends LinearOpMode {
     public static double shoot2Time = 2.5;
     public static double shoot3Time = 2.5;
     public static double colorSenseTime = 1.2;
-    public int motif = 0;
+    public static double waitToShoot0 = 0.5;
+    public static double waitToPickupGate2 = 0.3;
+    public static double pickupStackGateSpeed = 19;
+    public static double intake2TimeGate = 5;
+    public static double shoot2GateTime = 1.7;
+    public static double endGateTime = 22;
+    public static double waitToPickupGateWithPartner = 0.7;
+    public static double waitToPickupGateSolo = 0.01;
+    public static double intakeGateTime = 5.6;
+    public static double shootGateTime = 1.5;
+    public static double shoot1GateTime = 1.7;
+    public static double intake1GateTime = 3.3;
+    public static double lastShootTime = 27;
+
+    public static double openGateX = 26;
+    public static double openGateY = 48;
+    public  static double openGateH = Math.toRadians(155);
 
     Robot robot;
     MultipleTelemetry TELE;
@@ -78,8 +103,10 @@ public class Auto_LT_Close extends LinearOpMode {
     Targeting targeting;
     Targeting.Settings targetingSettings;
     AutoActions autoActions;
-    double x1, y1, h1;
+    Light light;
 
+    int motif = 0;
+    double x1, y1, h1;
     double x2a, y2a, h2a, t2a;
 
     double x2b, y2b, h2b, t2b;
@@ -91,15 +118,22 @@ public class Auto_LT_Close extends LinearOpMode {
     double x4b, y4b, h4b;
 
     double xShoot, yShoot, hShoot;
-    double xGate, yGate, hGate;
-    double xPrep, yPrep, hPrep;
+    double xShoot0, yShoot0, hShoot0;
+    double pickupGateAX, pickupGateAY, pickupGateAH;
+    double pickupGateBX, pickupGateBY, pickupGateBH;
+    double xShootGate, yShootGate, hShootGate;
     double xLeave, yLeave, hLeave;
-
-    private double shoot1Tangent;
+    double xLeaveGate, yLeaveGate, hLeaveGate;
 
     int ballCycles = 3;
     int prevMotif = 0;
-
+    boolean gateCycle = true;
+    boolean withPartner = true;
+    double obeliskTurrPos1 = 0.0;
+    double obeliskTurrPos2 = 0.0;
+    double obeliskTurrPos3 = 0.0;
+    double waitToPickupGate = 0;
+    double obeliskTurrPosAutoStart = 0;
 
     // initialize path variables here
     TrajectoryActionBuilder shoot0 = null;
@@ -109,6 +143,9 @@ public class Auto_LT_Close extends LinearOpMode {
     TrajectoryActionBuilder shoot2 = null;
     TrajectoryActionBuilder pickup3 = null;
     TrajectoryActionBuilder shoot3 = null;
+    TrajectoryActionBuilder shoot0ToPickup2 = null;
+    TrajectoryActionBuilder gateCyclePickup = null;
+    TrajectoryActionBuilder gateCycleShoot = null;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -132,20 +169,57 @@ public class Auto_LT_Close extends LinearOpMode {
 
         drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
 
-        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret);
+        light = Light.getInstance();
 
-        servos.setSpinPos(spinStartPos);
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        servos.setSpinPos(spindexer_intakePos1);
 
         servos.setTransferPos(transferServo_out);
-
         limelightUsed = false;
 
         robot.light.setPosition(1);
 
-        while (opModeInInit()) {
+        hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
 
-            servos.setHoodPos(shoot0Hood);
-            turret.setTurret(turrDefault);
+        while (opModeInInit()) {
+            if (limelightUsed && !gateCycle){
+                Actions.runBlocking(
+                        autoActions.detectObelisk(
+                                0.1,
+                                0.501,
+                                0.501,
+                                0.501,
+                                0.501,
+                                obeliskTurrPosAutoStart
+                        )
+                );
+                motif = turret.getObeliskID();
+
+                if (motif == 21){
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall1;
+                } else if (motif == 22){
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall3b;
+                } else {
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall2;
+                }
+            }
+
+            if (!gateCycle) {
+                turret.pipelineSwitch(1);
+            } else if (redAlliance) {
+                turret.pipelineSwitch(4);
+            } else {
+                turret.pipelineSwitch(2);
+            }
+
+            if (gateCycle) {
+                servos.setHoodPos(hoodGate0Start);
+            } else {
+                servos.setHoodPos(shoot0Hood);
+            }
 
             if (gamepad2.crossWasPressed()) {
                 redAlliance = !redAlliance;
@@ -159,16 +233,25 @@ public class Auto_LT_Close extends LinearOpMode {
                 turrDefault += 0.01;
             }
 
-            if (gamepad2.rightBumperWasPressed()){
+            if (gamepad2.rightBumperWasPressed()) {
                 ballCycles++;
             }
-            if (gamepad2.leftBumperWasPressed()){
+            if (gamepad2.leftBumperWasPressed()) {
                 ballCycles--;
             }
 
-            if (gamepad2.squareWasPressed()){
-                turret.pipelineSwitch(1);
+            if (gamepad2.triangleWasPressed()){
+                gateCycle = !gateCycle;
+            }
+
+
+
+            if (gamepad2.squareWasPressed()) {
+
+                drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
                 robot.limelight.start();
+                limelightUsed = true;
+
                 gamepad2.rumble(500);
             }
 
@@ -199,9 +282,7 @@ public class Auto_LT_Close extends LinearOpMode {
                 x4b = rx4b;
                 y4b = ry4b;
                 h4b = rh4b;
-                xPrep = rxPrep;
-                yPrep = ryPrep;
-                hPrep = rhPrep;
+
                 xShoot = rShootX;
                 yShoot = rShootY;
                 hShoot = rShootH;
@@ -209,11 +290,27 @@ public class Auto_LT_Close extends LinearOpMode {
                 yLeave = rLeaveY;
                 hLeave = rLeaveH;
 
+                xShoot0 = rShoot0X;
+                yShoot0 = rShoot0Y;
+                hShoot0 = rShoot0H;
+                xShootGate = rShootGateX;
+                yShootGate = rShootGateY;
+                hShootGate = rShootGateH;
+                xLeaveGate = rLeaveGateX;
+                yLeaveGate = rLeaveGateY;
+                hLeaveGate = rLeaveGateH;
+
+                pickupGateAX = rPickupGateAX;
+                pickupGateAY = rPickupGateAY;
+                pickupGateAH = rPickupGateAH;
+                pickupGateBX = rPickupGateBX;
+                pickupGateBY = rPickupGateBY;
+                pickupGateBH = rPickupGateBH;
+
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
                 obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
                 obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
                 obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
-                turretShootPos = turrDefault + redTurretShootPos;
-
             } else {
                 robot.light.setPosition(0.6);
 
@@ -242,9 +339,6 @@ public class Auto_LT_Close extends LinearOpMode {
                 y4b = by4b;
                 h4b = bh4b;
 
-                xPrep = bxPrep;
-                yPrep = byPrep;
-                hPrep = bhPrep;
                 xShoot = bShootX;
                 yShoot = bShootY;
                 hShoot = bShootH;
@@ -252,22 +346,93 @@ public class Auto_LT_Close extends LinearOpMode {
                 yLeave = bLeaveY;
                 hLeave = bLeaveH;
 
+                xShoot0 = bShoot0X;
+                yShoot0 = bShoot0Y;
+                hShoot0 = bShoot0H;
+                xShootGate = bShootGateX;
+                yShootGate = bShootGateY;
+                hShootGate = bShootGateH;
+                xLeaveGate = bLeaveGateX;
+                yLeaveGate = bLeaveGateY;
+                hLeaveGate = bLeaveGateH;
+
+                pickupGateAX = bPickupGateAX;
+                pickupGateAY = bPickupGateAY;
+                pickupGateAH = bPickupGateAH;
+                pickupGateBX = bPickupGateBX;
+                pickupGateBY = bPickupGateBY;
+                pickupGateBH = bPickupGateBH;
+
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
                 obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
                 obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
                 obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
-                turretShootPos = turrDefault + blueTurretShootPos;
-
             }
 
-            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                    .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
+            if (gateCycle) {
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
+            } else {
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
+            }
 
-            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
-                    .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
-                    .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
-                            new TranslationalVelConstraint(pickup1Speed));
+            if (gateCycle) {
+                pickup2 = shoot0.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                        .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                                new TranslationalVelConstraint(pickupStackGateSpeed));
+            } else {
+                pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                        .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                        .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                                new TranslationalVelConstraint(pickup1Speed));
+            }
 
-            if (ballCycles < 2){
+            if (gateCycle&& withPartner) {
+                shoot2 = pickup2.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(openGateX, openGateY), Math.toRadians(openGateH))
+                        .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
+            } else if (gateCycle) {
+                shoot2 = pickup2.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
+            } else if (ballCycles < 3) {
+                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
+                        .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+            } else {
+                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
+                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+            }
+
+            gateCyclePickup = shoot2.endTrajectory().fresh()
+                    .strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
+                    .waitSeconds(waitToPickupGate)
+                    .strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH))
+                    .waitSeconds(0.1)
+                    .strafeToLinearHeading(new Vector2d(pickupGateCX, pickupGateCY), Math.toRadians(pickupGateCH),
+                            new TranslationalVelConstraint(13));
+
+            gateCycleShoot = gateCyclePickup.endTrajectory().fresh()
+                    .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
+
+
+            if (gateCycle) {
+                pickup1 = gateCycleShoot.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                        .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                                new TranslationalVelConstraint(pickupStackGateSpeed));
+            } else {
+                pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
+                        .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                        .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                                new TranslationalVelConstraint(pickup1Speed));
+            }
+
+
+            if (gateCycle) {
+                shoot1 = pickup1.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
+            } else if (ballCycles < 2) {
                 shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
                         .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
             } else {
@@ -275,19 +440,6 @@ public class Auto_LT_Close extends LinearOpMode {
                         .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
             }
 
-            pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
-                    .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
-                    .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
-                            new TranslationalVelConstraint(pickup1Speed));
-
-            if (ballCycles < 3){
-                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
-                        .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
-            } else {
-                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
-                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hLeave));
-            }
-
             pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
                     .strafeToLinearHeading(new Vector2d(x4a, y4a), Math.toRadians(h4a))
                     .strafeToLinearHeading(new Vector2d(x4b, y4b), Math.toRadians(h4b),
@@ -296,9 +448,19 @@ public class Auto_LT_Close extends LinearOpMode {
             shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, Math.toRadians(h4b)))
                     .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
 
+            if (withPartner) {
+                waitToPickupGate = waitToPickupGateWithPartner;
+            } else {
+                waitToPickupGate = waitToPickupGateSolo;
+            }
+
+            teleStart = drive.localizer.getPose();
             TELE.addData("Red?", redAlliance);
             TELE.addData("Turret Default", turrDefault);
+            TELE.addData("Gate Cycle?", gateCycle);
             TELE.addData("Ball Cycles", ballCycles);
+            TELE.addData("Limelight Started?", limelightUsed);
+            TELE.addData("Motif", motif);
 
             TELE.update();
         }
@@ -309,24 +471,53 @@ public class Auto_LT_Close extends LinearOpMode {
 
         if (opModeIsActive()) {
 
+            double stamp = getRuntime();
+
             robot.transfer.setPower(1);
 
-            startAuto();
-            shoot();
 
-            if (ballCycles > 0){
-                cycleStackClose();
-                shoot();
-            }
+            if (gateCycle) {
+                startAutoGate();
+                shoot(0.501, 0.501, 0.501);
+                cycleStackMiddleGate();
+                shoot(0.501,0.501, 0.501);
 
-            if (ballCycles > 1){
-                cycleStackMiddle();
-                shoot();
-            }
+                while (getRuntime() - stamp < endGateTime) {
+                    cycleGateIntake();
+                    if (getRuntime() - stamp < lastShootTime) {
+                        cycleGateShoot();
+                        shoot(0.501, 0.501, 0.501);
+                    }
+                }
+                cycleStackCloseIntakeGate();
 
-            if (ballCycles > 2){
-                cycleStackFar();
-                shoot();
+                if (getRuntime() - stamp < lastShootTime) {
+                    cycleStackCloseShootGate();
+                }
+
+                shoot(0.501, 0.501, 0.501);
+
+            } else {
+
+
+
+                startAuto();
+                shoot(0.501, 0.501,0.501);
+
+                if (ballCycles > 0) {
+                    cycleStackClose();
+                    shoot(xShoot, yShoot, hShoot);
+                }
+
+                if (ballCycles > 1) {
+                    cycleStackMiddle();
+                    shoot(xShoot, yShoot, hShoot);
+                }
+
+                if (ballCycles > 2) {
+                    cycleStackFar();
+                    shoot(xLeave, yLeave, hLeave);
+                }
             }
 
             while (opModeIsActive()) {
@@ -346,22 +537,8 @@ public class Auto_LT_Close extends LinearOpMode {
 
     }
 
-    void shoot(){
-        Actions.runBlocking(
-                new ParallelAction(
-                        autoActions.manageShooterAuto(
-                                shootAllTime,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501,
-                                false
-                        ),
-                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                )
-
-        );
+    void shoot(double x, double y, double z) {
+        Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, x, y, z));
     }
 
     void startAuto() {
@@ -370,55 +547,58 @@ public class Auto_LT_Close extends LinearOpMode {
         Actions.runBlocking(
                 new ParallelAction(
                         shoot0.build(),
-                        autoActions.manageShooterAuto(
+                        autoActions.prepareShootAll(
+                                0.8,
                                 flywheel0Time,
+                                motif,
                                 x1,
                                 y1,
-                                posXTolerance,
-                                posYTolerance,
-                                h1,
-                                false
+                                h1
                         )
-
                 )
         );
+
     }
 
-    void cycleStackClose(){
+
+
+    void startAutoGate() {
+        assert shoot0 != null;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot0.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                flywheel0Time,
+                                motif,
+                                xShoot0,
+                                yShoot0,
+                                hShoot0
+                        )
+                )
+        );
+
+
+    }
+
+    void cycleStackClose() {
         Actions.runBlocking(
                 new ParallelAction(
                         pickup1.build(),
-                        autoActions.manageShooterAuto(
+                        autoActions.intake(
                                 intake1Time,
                                 x2b,
                                 y2b,
-                                posXTolerance,
-                                posYTolerance,
-                                h2b,
-                                true
-                        ),
-                        autoActions.intake(intake1Time),
-                        autoActions.detectObelisk(
-                                intake1Time,
-                                x2b,
-                                y2b,
-                                posXTolerance,
-                                posYTolerance,
-                                obeliskTurrPos1
+                                h2b
                         )
-
                 )
         );
 
-        motif = turret.getObeliskID();
-
-        if (motif == 0) motif = 22;
-        prevMotif = motif;
-
         double posX;
         double posY;
         double posH;
-        if (ballCycles > 1){
+        if (ballCycles > 1) {
             posX = xShoot;
             posY = yShoot;
             posH = hShoot;
@@ -430,56 +610,36 @@ public class Auto_LT_Close extends LinearOpMode {
 
         Actions.runBlocking(
                 new ParallelAction(
-                        autoActions.manageShooterAuto(
+                        shoot1.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
                                 shoot1Time,
+                                motif,
                                 posX,
                                 posY,
-                                posXTolerance,
-                                posYTolerance,
-                                posH,
-                                false
-                        ),
-                        shoot1.build(),
-                        autoActions.prepareShootAll(colorSenseTime, shoot1Time, motif)
+                                posH
+                        )
                 )
         );
     }
 
-    void cycleStackMiddle(){
+    void cycleStackMiddle() {
         Actions.runBlocking(
                 new ParallelAction(
                         pickup2.build(),
-                        autoActions.manageShooterAuto(
+                        autoActions.intake(
                                 intake2Time,
                                 x3b,
                                 y3b,
-                                posXTolerance,
-                                posYTolerance,
-                                h3b,
-                                true
-                        ),
-                        autoActions.intake(intake2Time),
-                        autoActions.detectObelisk(
-                                intake2Time,
-                                x3b,
-                                y3b,
-                                posXTolerance,
-                                posYTolerance,
-                                obeliskTurrPos2
+                                h3b
                         )
-
                 )
         );
 
-        motif = turret.getObeliskID();
-
-        if (motif == 0) motif = prevMotif;
-        prevMotif = motif;
-
         double posX;
         double posY;
         double posH;
-        if (ballCycles > 2){
+        if (ballCycles > 2) {
             posX = xShoot;
             posY = yShoot;
             posH = hShoot;
@@ -491,44 +651,28 @@ public class Auto_LT_Close extends LinearOpMode {
 
         Actions.runBlocking(
                 new ParallelAction(
-                        autoActions.manageShooterAuto(
+                        shoot2.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
                                 shoot2Time,
+                                motif,
                                 posX,
                                 posY,
-                                posXTolerance,
-                                posYTolerance,
-                                posH,
-                                false
-                        ),
-                        shoot2.build(),
-                        autoActions.prepareShootAll(colorSenseTime, shoot2Time, motif)
+                                posH)
                 )
         );
     }
 
-    void cycleStackFar(){
+    void cycleStackFar() {
         Actions.runBlocking(
                 new ParallelAction(
                         pickup3.build(),
-                        autoActions.manageShooterAuto(
+                        autoActions.intake(
                                 intake3Time,
                                 x4b,
                                 y4b,
-                                posXTolerance,
-                                posYTolerance,
-                                h4b,
-                                true
-                        ),
-                        autoActions.intake(intake3Time),
-                        autoActions.detectObelisk(
-                                intake3Time,
-                                x4b,
-                                y4b,
-                                posXTolerance,
-                                posYTolerance,
-                                obeliskTurrPos3
+                                h4b
                         )
-
                 )
         );
 
@@ -539,17 +683,129 @@ public class Auto_LT_Close extends LinearOpMode {
 
         Actions.runBlocking(
                 new ParallelAction(
-                        autoActions.manageShooterAuto(
+                        shoot3.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
                                 shoot3Time,
+                                motif,
                                 xLeave,
                                 yLeave,
-                                posXTolerance,
-                                posYTolerance,
-                                hLeave,
+                                hLeave
+                        )
+                )
+        );
+    }
+
+    void cycleStackMiddleGate() {
+        drive.updatePoseEstimate();
+        pickup2 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                        new TranslationalVelConstraint(pickupStackGateSpeed));
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup2.build(),
+                        autoActions.intake(
+                                intake2TimeGate,
+                                x3b,
+                                y3b,
+                                h3b
+                        )
+                )
+        );
+
+        servos.setSpinPos(spinStartPos);
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot2.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot2Time,
+                                motif,
+                                xShootGate,
+                                yShootGate,
+                                pickupGateAH)
+                )
+        );
+    }
+
+    void cycleGateIntake() {
+        drive.updatePoseEstimate();
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        gateCyclePickup.build(),
+                        autoActions.intake(
+                                intakeGateTime,
+                                xShootGate,
+                                yShootGate,
+                                hShootGate
+                        )
+                )
+        );
+    }
+
+    void cycleGateShoot() {
+
+        drive.updatePoseEstimate();
+        servos.setSpinPos(spinStartPos);
+
+        gateCycleShoot = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        gateCycleShoot.build(),
+                        autoActions.manageShooterAuto(
+                                shootGateTime,
+                                xShootGate,
+                                yShootGate,
+                                pickupGateAH,
                                 false
-                        ),
-                        shoot3.build(),
-                        autoActions.prepareShootAll(colorSenseTime, shoot3Time, motif)
+                        )
+                )
+        );
+    }
+
+    void cycleStackCloseIntakeGate() {
+        drive.updatePoseEstimate();
+
+        pickup1 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                        new TranslationalVelConstraint(pickupStackGateSpeed));
+
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup1.build(),
+                        autoActions.intake(
+                                intake1GateTime,
+                                xShootGate,
+                                yShootGate,
+                                hShootGate
+                        )
+                )
+        );
+    }
+
+    void cycleStackCloseShootGate(){
+        servos.setSpinPos(spinStartPos);
+        drive.updatePoseEstimate();
+
+        shoot1 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot1.build(),
+                        autoActions.manageShooterAuto(
+                                shoot1GateTime,
+                                xLeaveGate,
+                                yLeaveGate,
+                                hLeaveGate,
+                                false
+                        )
                 )
         );
     }

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

@@ -3,26 +3,22 @@ package org.firstinspires.ftc.teamcode.autonomous;
 import static org.firstinspires.ftc.teamcode.constants.Back_Poses.*;
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueTurretShootPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redTurretShootPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
 
-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.TrajectoryActionBuilder;
@@ -35,20 +31,17 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
 import org.firstinspires.ftc.teamcode.utils.Targeting;
 import org.firstinspires.ftc.teamcode.utils.Turret;
 
-import java.util.Objects;
-
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class Auto_LT_Far extends LinearOpMode {
     public static double shoot0Vel = 3300, shoot0Hood = 0.48;
-    public static double redTurretShootPos = 0.05;
-    public static double blueTurretShootPos = -0.05;
     double xLeave, yLeave, hLeave;
     public int motif = 0;
     double turretShootPos = 0.0;
@@ -62,41 +55,39 @@ public class Auto_LT_Far extends LinearOpMode {
     Targeting targeting;
     Targeting.Settings targetingSettings;
     AutoActions autoActions;
+    Light light;
     double xShoot, yShoot, hShoot;
     double pickupGateX = 0, pickupGateY = 0, pickupGateH = 0;
-    double pickupZoneX = 0, pickupZoneY = 0, pickupZoneH = 0;
     public static double flywheel0Time = 1.5;
-    boolean gatePickup = false;
+    boolean gatePickup = true;
     boolean stack3 = true;
     double xStackPickupA, yStackPickupA, hStackPickupA;
     double xStackPickupB, yStackPickupB, hStackPickupB;
-    public static int pickupStackSpeed = 12;
+    public static int pickupStackSpeed = 17;
+    public static int pickupGateSpeed = 25;
     int prevMotif = 0;
-    public static double spindexerSpeedIncrease = 0.008;
+    public static double spindexerSpeedIncrease = 0.014;
     public static double shootAllTime = 2;
     // ---- POSITION TOLERANCES ----
     public static double posXTolerance = 5.0;
     public static double posYTolerance = 5.0;
     public static double shootStackTime = 2;
-    public static double shootGateTime = 2;
+    public static double shootGateTime = 2.5;
     public static double colorSenseTime = 1;
-    public static double intakeStackTime = 3.3;
-    public static double intakeGateTime = 3;
-    public static double redObeliskTurrPos1 = 0.12;
-    public static double redObeliskTurrPos2 = 0.13;
-    public static double redObeliskTurrPos3 = 0.14;
-    public static double blueObeliskTurrPos1 = -0.12;
-    public static double blueObeliskTurrPos2 = -0.13;
-    public static double blueObeliskTurrPos3 = -0.14;
+    public static double intakeStackTime = 4.5;
+    public static double intakeGateTime = 8;
     double obeliskTurrPos1 = 0.0;
     double obeliskTurrPos2 = 0.0;
     double obeliskTurrPos3 = 0.0;
+    public static double endAutoTime = 26;
 
     // initialize path variables here
     TrajectoryActionBuilder leave3Ball = null;
     TrajectoryActionBuilder leaveFromShoot = null;
     TrajectoryActionBuilder pickup3 = null;
     TrajectoryActionBuilder shoot3 = null;
+    TrajectoryActionBuilder pickupGate = null;
+    TrajectoryActionBuilder shootGate = null;
     Pose2d autoStart = new Pose2d(0,0,0);
 
     @Override
@@ -117,6 +108,10 @@ public class Auto_LT_Far extends LinearOpMode {
 
         servos = new Servos(hardwareMap);
 
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
         robot.limelight.start();
 
         robot.limelight.pipelineSwitch(1);
@@ -159,7 +154,7 @@ public class Auto_LT_Far extends LinearOpMode {
 
                 autoStart = new Pose2d(autoStartRX, autoStartRY, Math.toRadians(autoStartRH));
                 drive = new MecanumDrive(hardwareMap, autoStart);
-                autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret);
+                autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
 
                 xLeave = rLeaveX;
                 yLeave = rLeaveY;
@@ -177,6 +172,10 @@ public class Auto_LT_Far extends LinearOpMode {
                 yStackPickupB = rStackPickupBY;
                 hStackPickupB = rStackPickupBH;
 
+                pickupGateX = rPickupGateX;
+                pickupGateY = rPickupGateY;
+                pickupGateH = rPickupGateH;
+
                 obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
                 obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
                 obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
@@ -185,6 +184,8 @@ public class Auto_LT_Far extends LinearOpMode {
                 if (gamepad2.squareWasPressed()){
                     turret.pipelineSwitch(4);
                     robot.limelight.start();
+                    drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
+
                     gamepad2.rumble(500);
                 }
             } else {
@@ -192,7 +193,7 @@ public class Auto_LT_Far extends LinearOpMode {
 
                 autoStart = new Pose2d(autoStartBX, autoStartBY, Math.toRadians(autoStartBH));
                 drive = new MecanumDrive(hardwareMap, autoStart);
-                autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret);
+                autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
 
                 xLeave = bLeaveX;
                 yLeave = bLeaveY;
@@ -210,6 +211,10 @@ public class Auto_LT_Far extends LinearOpMode {
                 yStackPickupB = bStackPickupBY;
                 hStackPickupB = bStackPickupBH;
 
+                pickupGateX = bPickupGateX;
+                pickupGateY = bPickupGateY;
+                pickupGateH = bPickupGateH;
+
                 obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
                 obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
                 obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
@@ -218,6 +223,8 @@ public class Auto_LT_Far extends LinearOpMode {
                 if (gamepad2.squareWasPressed()){
                     turret.pipelineSwitch(2);
                     robot.limelight.start();
+                    drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
+
                     gamepad2.rumble(500);
                 }
             }
@@ -236,6 +243,16 @@ public class Auto_LT_Far extends LinearOpMode {
             shoot3 = drive.actionBuilder(new Pose2d(xStackPickupB, yStackPickupB, Math.toRadians(hStackPickupB)))
                     .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
 
+            pickupGate = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                    .strafeToLinearHeading(new Vector2d(pickupGateX, pickupGateY), Math.toRadians(pickupGateH))
+                    .waitSeconds(0.2)
+                    .strafeToLinearHeading(new Vector2d(pickupGateXB, pickupGateYB), Math.toRadians(pickupGateHB))
+                    .strafeToLinearHeading(new Vector2d(pickupGateXC, pickupGateYC), Math.toRadians(pickupGateHC),
+                            new TranslationalVelConstraint(pickupGateSpeed));
+
+            shootGate = drive.actionBuilder(new Pose2d(pickupGateX, pickupGateY, Math.toRadians(pickupGateH)))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+
             limelightUsed = true;
 
             TELE.addData("Red?", redAlliance);
@@ -253,6 +270,7 @@ public class Auto_LT_Far extends LinearOpMode {
 
         // Currently only shoots; keep this start and modify times and then add extra paths
         if (opModeIsActive()) {
+            double stamp = getRuntime();
 
             robot.transfer.setPower(1);
 
@@ -264,7 +282,17 @@ public class Auto_LT_Far extends LinearOpMode {
                 shoot();
             }
 
-            //TODO: insert code here for gate auto
+            while (gatePickup && getRuntime() - stamp < endAutoTime){
+                cycleGatePickupBalls();
+                if (getRuntime() - stamp > endAutoTime){
+                    break;
+                }
+                cycleGatePrepareShoot();
+                if (getRuntime() - stamp > endAutoTime + shootAllTime + 1){
+                    break;
+                }
+                shoot();
+            }
 
             if (gatePickup || stack3){
                 leave();
@@ -293,16 +321,7 @@ public class Auto_LT_Far extends LinearOpMode {
     void shoot(){
         Actions.runBlocking(
                 new ParallelAction(
-                        autoActions.manageShooterAuto(
-                                shootAllTime,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501,
-                                false
-                        ),
-                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, 0.501, 0.501, 0.501)
                 )
 
         );
@@ -316,9 +335,7 @@ public class Auto_LT_Far extends LinearOpMode {
                                 0.501,
                                 0.501,
                                 0.501,
-                                0.501,
-                                0.501,
-                                false
+                                true
                         )
 
                 )
@@ -339,16 +356,12 @@ public class Auto_LT_Far extends LinearOpMode {
         Actions.runBlocking(
                 new ParallelAction(
                         pickup3.build(),
-                        autoActions.manageShooterAuto(
+                        autoActions.intake(
                                 intakeStackTime,
                                 xStackPickupB,
                                 yStackPickupB,
-                                posXTolerance,
-                                posYTolerance,
-                                hStackPickupB,
-                                true
+                                hStackPickupB
                         ),
-                        autoActions.intake(intakeStackTime),
                         autoActions.detectObelisk(
                                 intakeStackTime,
                                 xStackPickupB,
@@ -368,17 +381,57 @@ public class Auto_LT_Far extends LinearOpMode {
 
         Actions.runBlocking(
                 new ParallelAction(
-                        autoActions.manageShooterAuto(
+                        shoot3.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
                                 shootStackTime,
+                                motif,
                                 xShoot,
                                 yShoot,
+                                hShoot)
+                )
+        );
+    }
+
+    void cycleGatePickupBalls(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickupGate.build(),
+                        autoActions.intake(
+                                intakeStackTime,
+                                pickupGateX,
+                                pickupGateY,
+                                pickupGateH
+                        ),
+                        autoActions.detectObelisk(
+                                intakeGateTime,
+                                pickupGateX,
+                                pickupGateY,
                                 posXTolerance,
                                 posYTolerance,
-                                hShoot,
-                                false
-                        ),
-                        shoot3.build(),
-                        autoActions.prepareShootAll(colorSenseTime, shootStackTime, motif)
+                                obeliskTurrPos3
+                        )
+                )
+        );
+
+        motif = turret.getObeliskID();
+
+        if (motif == 0) motif = prevMotif;
+        prevMotif = motif;
+    }
+
+    void cycleGatePrepareShoot(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        shootGate.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shootGateTime,
+                                motif,
+                                xShoot,
+                                yShoot,
+                                hShoot
+                        )
                 )
         );
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/AutoActions.java

@@ -10,7 +10,6 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 
 import androidx.annotation.NonNull;
 
@@ -19,10 +18,15 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
 import com.acmerobotics.roadrunner.Action;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Color;
 import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
@@ -32,7 +36,7 @@ import org.firstinspires.ftc.teamcode.utils.Turret;
 import java.util.Objects;
 
 @Config
-public class AutoActions{
+public class AutoActions {
     Robot robot;
     MultipleTelemetry TELE;
     Servos servos;
@@ -41,18 +45,18 @@ public class AutoActions{
     Spindexer spindexer;
     Targeting targeting;
     Targeting.Settings targetingSettings;
+    Light light;
     Turret turret;
     private int driverSlotGreen = 0;
     private int passengerSlotGreen = 0;
     private int rearSlotGreen = 0;
     private int mostGreenSlot = 0;
-    private double firstSpindexShootPos = spinStartPos;
+    public static double firstSpindexShootPos = spinStartPos;
     private boolean shootForward = true;
-    public static double firstShootTime = 0.3;
     public int motif = 0;
     double spinEndPos = ServoPositions.spinEndPos;
 
-    public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur){
+    public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
         this.robot = rob;
         this.drive = dri;
         this.TELE = tel;
@@ -62,9 +66,17 @@ public class AutoActions{
         this.targeting = tar;
         this.targetingSettings = tS;
         this.turret = tur;
+        this.light = lig;
     }
 
-    public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
+    public Action prepareShootAll(
+            double colorSenseTime,
+            double time,
+            int motif_id,
+            double posX,
+            double posY,
+            double posH
+    ) {
         return new Action() {
             double stamp = 0.0;
             int ticker = 0;
@@ -73,68 +85,101 @@ public class AutoActions{
 
             boolean decideGreenSlot = false;
 
-            void spin1PosFirst(){
+            void spin1PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall1;
                 shootForward = true;
-                spinEndPos = spindexer_outtakeBall3 + 0.1;
+                spinEndPos = 0.95;
             }
 
-            void spin2PosFirst(){
+            void spin2PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall2;
                 shootForward = false;
-                spinEndPos = spindexer_outtakeBall3b - 0.1;
+                spinEndPos = 0.05;
             }
 
-            void reverseSpin2PosFirst(){
+            void reverseSpin2PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall2;
                 shootForward = true;
                 spinEndPos = 0.95;
             }
 
-            void spin3PosFirst(){
+            void spin3PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall3;
                 shootForward = false;
-                spinEndPos = spindexer_outtakeBall1 - 0.1;
+                spinEndPos = 0.05;
             }
 
-            void oddSpin3PosFirst(){
+            void oddSpin3PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall3b;
                 shootForward = true;
-                spinEndPos = spindexer_outtakeBall2 + 0.1;
+                spinEndPos = 0.95;
             }
 
+            Action manageShooter = null;
+
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 if (ticker == 0) {
                     stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                    driverSlotGreen = 0;
+                    passengerSlotGreen = 0;
+                    rearSlotGreen = 0;
                 }
                 ticker++;
                 servos.setTransferPos(transferServo_out);
                 drive.updatePoseEstimate();
 
+                light.setState(StateEnums.LightState.GOAL_LOCK);
+
                 teleStart = drive.localizer.getPose();
 
+                manageShooter.run(telemetryPacket);
+
+                TELE.addData("Most Green Slot", mostGreenSlot);
+                TELE.addData("Driver Slot Greeness", driverSlotGreen);
+                TELE.addData("Passenger Slot Greeness", passengerSlotGreen);
+                TELE.addData("Rear Greeness", rearSlotGreen);
+                TELE.update();
+
                 if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
 
                     spindexerWiggle *= -1.0;
 
                     servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
 
-                    spindexer.detectBalls(true, true);
 
-                    if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
-                        driverSlotGreen++;
+// Rear Center (Position 1)
+                    double distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+                    if (distanceRearCenter < 52) {
+                        NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+                        double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+                        if (gP1 >= 0.38) {
+                            rearSlotGreen++;
+                        }
                     }
 
-                    if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
-                        passengerSlotGreen++;
+// Front Driver (Position 2)
+                    double distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+                    if (distanceFrontDriver < 50) {
+                        NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
+                        double gP2 = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
+                        if (gP2 >= 0.4) {
+                            driverSlotGreen++;
+                        }
                     }
 
-                    if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
-                        rearSlotGreen++;
+// Front Passenger (Position 3)
+                    double distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+                    if (distanceFrontPassenger < 29) {
+                        NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
+                        double gP3 = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
+                        if (gP3 >= 0.4) {
+                            passengerSlotGreen++;
+                        }
                     }
 
-                    spindexer.setIntakePower(1);
+                    spindexer.setIntakePower(-0.1);
 
                     decideGreenSlot = true;
 
@@ -153,29 +198,46 @@ public class AutoActions{
 
                     if (motif_id == 21) {
                         if (mostGreenSlot == 1) {
-                            spin1PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
                         } else if (mostGreenSlot == 2) {
-                            spin2PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                            spinEndPos = 0.05;
                         } else {
-                            spin3PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
                         }
                     } else if (motif_id == 22) {
                         if (mostGreenSlot == 1) {
-                            spin2PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
                         } else if (mostGreenSlot == 2) {
-                            spin3PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
                         } else {
-                            reverseSpin2PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = false;
+                            spinEndPos = 0.03;
                         }
 
                     } else {
                         if (mostGreenSlot == 1) {
-                            spin3PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                            spinEndPos = 0.05;
                         } else if (mostGreenSlot == 2) {
-                            oddSpin3PosFirst();
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
                         } else {
-                            spin1PosFirst();
-                        }
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;                        }
                     }
 
                     return true;
@@ -193,54 +255,55 @@ public class AutoActions{
         };
     }
 
-    private boolean doneShooting = false;
-    public Action shootAllAuto(double shootTime, double spindexSpeed) {
+    public Action shootAllAuto(double shootTime, double spindexSpeed, double posX, double posY, double posH) {
         return new Action() {
             int ticker = 1;
 
             double stamp = 0.0;
 
-            double velo = 0.0;
-
             int shooterTicker = 0;
+            Action manageShooter = null;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                velo = flywheel.getVelo();
-
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
 
                 spindexer.setIntakePower(-0.1);
 
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
                 if (ticker == 1) {
                     stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
+
                 }
                 ticker++;
 
+                manageShooter.run(telemetryPacket);
+
                 double prevSpinPos = servos.getSpinCmdPos();
 
                 boolean end;
-                if (shootForward){
-                    end = prevSpinPos > spinEndPos;
+                if (shootForward) {
+                    end = servos.getSpinPos() > spinEndPos;
                 } else {
-                    end = prevSpinPos < spinEndPos;
+                    end = servos.getSpinPos() < spinEndPos;
                 }
 
-                if (System.currentTimeMillis() - stamp < shootTime*1000 && (!end || shooterTicker < 2)) {
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
 
-                    if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 3) {
-                        servos.setTransferPos(transferServo_out);
+                    if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
                         servos.setSpinPos(firstSpindexShootPos);
                     } else {
                         servos.setTransferPos(transferServo_in);
                         shooterTicker++;
-
-                        if (shootForward) {
+                        Spindexer.whileShooting = true;
+                        if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
                             servos.setSpinPos(prevSpinPos + spindexSpeed);
-                        } else {
+                        } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
                             servos.setSpinPos(prevSpinPos - spindexSpeed);
                         }
 
@@ -250,10 +313,9 @@ public class AutoActions{
 
                 } else {
                     servos.setTransferPos(transferServo_out);
-
+                    Spindexer.whileShooting = false;
                     spindexer.resetSpindexer();
                     spindexer.processIntake();
-                    doneShooting = true;
 
                     return false;
 
@@ -262,32 +324,119 @@ public class AutoActions{
         };
     }
 
-    public Action intake(double intakeTime) {
+    public Action shootAllManual(
+            double shootTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double spindexSpeed,
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = prevSpinPos > spinEndPos;
+                } else {
+                    end = prevSpinPos < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
+                    servos.setTransferPos(transferServo_in);
+                    shooterTicker++;
+                    Spindexer.whileShooting = true;
+                    if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
+                    } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action intake(
+            double time,
+            double posX,
+            double posY,
+            double posH
+    ) {
         return new Action() {
             double stamp = 0.0;
             int ticker = 0;
+            Action manageShooter = null;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 if (ticker == 0) {
                     stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
                 }
                 ticker++;
 
                 spindexer.processIntake();
                 spindexer.setIntakePower(1);
+                light.setState(StateEnums.LightState.BALL_COUNT);
+                light.update();
 
-                spindexer.ballCounterLight();
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
 
-                return ((System.currentTimeMillis() - stamp) < (intakeTime * 1000)) && !spindexer.isFull();
+                manageShooter.run(telemetryPacket);
+
+                if ((System.currentTimeMillis() - stamp) > (time * 1000)) {
+                    servos.setSpinPos(spindexer_intakePos1);
+                    return false;
+                } else {
+                    return true;
+                }
             }
         };
     }
 
     private boolean detectingObelisk = false;
+
     public Action detectObelisk(
             double time,
             double posX,
@@ -305,6 +454,7 @@ public class AutoActions{
 
             double stamp = 0.0;
             int ticker = 0;
+            int prevMotif = 0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -315,23 +465,28 @@ public class AutoActions{
                 if (ticker == 0) {
                     stamp = System.currentTimeMillis();
                     turret.pipelineSwitch(1);
+                    ticker++;
                 }
 
-                ticker++;
                 motif = turret.detectObelisk();
 
+                if (prevMotif == motif){
+                    ticker++;
+                }
+                prevMotif = motif;
+
                 turret.setTurret(turrPos);
 
                 boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
                 boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
                 boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
 
-                boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull();
+                boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull() || ticker > 10;
 
                 teleStart = currentPose;
 
-                if (shouldFinish){
-                    if (redAlliance){
+                if (shouldFinish) {
+                    if (redAlliance) {
                         turret.pipelineSwitch(4);
                     } else {
                         turret.pipelineSwitch(2);
@@ -350,22 +505,122 @@ public class AutoActions{
             double time,
             double posX,
             double posY,
-            double posXTolerance,
-            double posYTolerance,
             double posH,
-            boolean whileIntaking
+            boolean flywheelSensor
     ) {
 
         return new Action() {
 
             double stamp = 0.0;
             int ticker = 0;
-            int shootingTicker = 0;
-            double shootingStamp = 0;
 
             final boolean timeFallback = (time != 0.501);
-            final boolean posXFallback = (posX != 0.501);
-            final boolean posYFallback = (posY != 0.501);
+
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                        light.setManualLightColor(Color.LightRed);
+                    } else {
+                        turret.pipelineSwitch(2);
+                        light.setManualLightColor(Color.LightBlue);
+
+                    }
+                }
+
+                ticker++;
+
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;
+
+                double robotHeading = currentPose.heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+
+
+                Pose2d deltaPose;
+                if (posX != 0.501) {
+                    deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
+                } else {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                }
+                Turret.limelightUsed = true;
+
+//                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                if (!detectingObelisk) {
+                    turret.trackGoal(deltaPose);
+                }
+
+                servos.setHoodPos(targetingSettings.hoodAngle);
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
+
+                teleStart = currentPose;
+
+                TELE.addData("Steady?", flywheel.getSteady());
+                TELE.update();
+
+                return !shouldFinish;
+            }
+        };
+    }
+
+    public Action Wait(double time) {
+        return new Action() {
+            boolean ticker = false;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (!ticker) {
+                    stamp = System.currentTimeMillis();
+                    ticker = true;
+                }
+
+                return (System.currentTimeMillis() - stamp < time * 1000);
+
+            }
+        };
+    }
+
+    public Action manageShooterManual(
+            double maxTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr
+    ) {
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            final boolean timeFallback = (maxTime != 0.501);
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -390,49 +645,30 @@ public class AutoActions{
                 double dx = robotX - goalX;  // delta x from robot to goal
                 double dy = robotY - goalY;  // delta y from robot to goal
                 Pose2d deltaPose;
-                if (posX != 0.501) {
-                    deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
+                if (turr == 0.501) {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                    if (!detectingObelisk) {
+                        turret.trackGoal(deltaPose);
+                    }
                 } else {
-                    deltaPose = new Pose2d(robotX, robotY, robotHeading);
+                    turret.setTurret(turr);
                 }
 
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-                if (!detectingObelisk) {
-                    turret.trackGoal(deltaPose);
-                }
-
-                servos.setHoodPos(targetingSettings.hoodAngle);
+                servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
+                double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);
 
                 double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
 
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(robotX - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(robotY - posY) < posYTolerance;
-                boolean shouldFinish;
-                if (whileIntaking) {
-                    shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull();
-                } else {
-                    shouldFinish = timeDone || (xDone && yDone) || doneShooting;
-                }
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
 
                 teleStart = currentPose;
 
                 TELE.addData("Steady?", flywheel.getSteady());
                 TELE.update();
 
-                if (shouldFinish) {
-                    doneShooting = false;
-                    return false;
-                } else {
-                    return true;
-                }
-
+                return !timeDone;
             }
         };
     }

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

@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.Pose2d;
 
 @Config
 public class Back_Poses {
@@ -11,11 +10,18 @@ public class Back_Poses {
     public static double rShootX = 100, rShootY = 55, rShootH = 90;
     public static double bShootX = 100, bShootY = -55, bShootH = -90;
 
-    public static double rStackPickupAX = 75, rStackPickupAY = 53, rStackPickupAH = 140;
+    public static double rStackPickupAX = 73, rStackPickupAY = 51, rStackPickupAH = 140;
     public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;
 
-    public static double rStackPickupBX = 50, rStackPickupBY = 78, rStackPickupBH = 140.1;
-    public static double bStackPickupBX = 50, bStackPickupBY = -78, bStackPickupBH = -140.1;
+    public static double rStackPickupBX = 53, rStackPickupBY = 71, rStackPickupBH = 140.1;
+    public static double bStackPickupBX = 55, bStackPickupBY = -73, bStackPickupBH = -140.1;
+
+    public static double rPickupGateX = 50, rPickupGateY = 83, rPickupGateH = 140;
+    public static double bPickupGateX = 70, bPickupGateY = -90, bPickupGateH = -140;
+    public static double pickupGateXB = 84, pickupGateYB = 76, pickupGateHB = 140;
+    public static double pickupGateXC = 50, pickupGateYC = 83, pickupGateHC = 190;
+
+
 
     public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 50;
     public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -50;

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

@@ -8,39 +8,55 @@ public class Front_Poses {
 
 
     public static double rx1 = 20, ry1 = 0.5, rh1 = 0.1;
-    public static double bx1 = 20, by1 = 0.5, bh1 = 0.1;
+    public static double bx1 = 20, by1 = -0.5, bh1 = -0.1;
 
     public static double rx2a = 41, ry2a = 18, rh2a = 140;
     public static double bx2a = 41, by2a = -18, bh2a = -140;
 
-    public static double rx2b = 23, ry2b = 36, rh2b = 140.1;
-    public static double bx2b = 19, by2b = -40, bh2b = -140.1;
+    public static double rx2b = 21, ry2b = 34, rh2b = 140.1;
+    public static double bx2b = 23, by2b = -36, bh2b = -140.1;
 
     public static double rx3a = 55, ry3a = 39, rh3a = 140;
     public static double bx3a = 55, by3a = -39, bh3a = -140;
 
     public static double rx3aG = 60, ry3aG = 34, rh3aG = 140;
-    public static double bx3aG = 55, by3aG = -43, bh3aG = -140;
+    public static double bx3aG = 60, by3aG = -34, bh3aG = -140;
 
     public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
-    public static double bx3b = 41, by3b = -59, bh3b = -140.1;
+    public static double bx3b = 36, by3b = -58, bh3b = -140.1;
 
     public static double rx4a = 75, ry4a = 53, rh4a = 140;
     public static double bx4a = 75, by4a = -53, bh4a = -140;
 
     public static double rx4b = 50, ry4b = 78, rh4b = 140.1;
-    public static double bx4b = 47, by4b = -85, bh4b = -140.1;
+    public static double bx4b = 50, by4b = -78, bh4b = -140.1;
 
     public static double rfx1 = 10, rfy1 = 0, rfh1 = 0;
 
     public static double rShootX = 40, rShootY = 10, rShootH = 50;
-    public static double bShootX = 40, bShootY = 0, bShootH = -50;
+    public static double bShootX = 40, bShootY = -10, bShootH = -50;
 
     public static double rxPrep = 45, ryPrep = 10, rhPrep = 50;
     public static double bxPrep = 45, byPrep = -10, bhPrep = -50;
 
-    public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 50;
-    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -50;
+    public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 55;
+    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -55;
+
+    public static double rShoot0X = 53, rShoot0Y = 10.1, rShoot0H = 80.1;
+    public static double bShoot0X = 53, bShoot0Y = -10.1, bShoot0H = -80.1;
+
+    public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
+    public static double bShootGateX = 50, bShootGateY = -10, bShootGateH = -90;
+
+    public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
+    public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
+
+    public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
+    public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
+
+    public static double rPickupGateBX = 38, rPickupGateBY = 62, rPickupGateBH = 210;
+    public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
+    public static double pickupGateCX = 34, pickupGateCY = 58, pickupGateCH = 220;
 
     public static Pose2d teleStart = new Pose2d(0, 0, 0);
 }

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

@@ -5,19 +5,19 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.07; //0.13;
+    public static double spindexer_intakePos1 = 0.18; //0.13;
 
-    public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
+    public static double spindexer_intakePos3 = 0.56; //0.53;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
-    public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
+    public static double spindexer_outtakeBall3 = 0.84; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.27; //0.65; //0.24;
 
-    public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
-    public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
-    public static double spinStartPos = 0.22;
-    public static double spinEndPos = 0.85;
+    public static double spindexer_outtakeBall2 = 0.66; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.47; //0.27; //0.4;
+    public static double spinStartPos = 0.10;
+    public static double spinEndPos = 0.95;
 
     public static double shootAllSpindexerSpeedIncrease = 0.014;
 
@@ -27,19 +27,21 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.27;
 
-    public static double hoodOffset = -0.05;
+    public static double hoodOffset = -0.04; // offset from 0.93
 
     public static double turret_redClose = 0;
     public static double turret_blueClose = 0;
 
     // These values are ADDED to turrDefault
-    public static double redObeliskTurrPos1 = 0.12;
-    public static double redObeliskTurrPos2 = 0.13;
-    public static double redObeliskTurrPos3 = 0.14;
-    public static double blueObeliskTurrPos1 = -0.12;
-    public static double blueObeliskTurrPos2 = -0.13;
-    public static double blueObeliskTurrPos3 = -0.14;
-    public static double redTurretShootPos = 0.1;
-    public static double blueTurretShootPos = -0.14;
+    public static double redObeliskTurrPos0 = -0.35;
+    public static double redObeliskTurrPos1 = 0.15;
+    public static double redObeliskTurrPos2 = 0.16;
+    public static double redObeliskTurrPos3 = 0.17;
+    public static double blueObeliskTurrPos0 = 0.35;
+    public static double blueObeliskTurrPos1 = -0.15;
+    public static double blueObeliskTurrPos2 = -0.16;
+    public static double blueObeliskTurrPos3 = -0.17;
+    public static double redTurretShootPos = 0.05;
+    public static double blueTurretShootPos = -0.05;
 
 }

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

@@ -5,7 +5,9 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.*;
+import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -14,12 +16,20 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.ProfileParams;
+import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
+import com.acmerobotics.roadrunner.Twist2d;
+import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -46,13 +56,131 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
 
-import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 
 @Config
 public final class MecanumDrive {
+    public static Params PARAMS = new Params();
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            new MinVelConstraint(Arrays.asList(
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
+            ));
+    public final AccelConstraint defaultAccelConstraint =
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+    public final VoltageSensor voltageSensor;
+    public final LazyImu lazyImu;
+    public final Localizer localizer;
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+
     public static class Params {
         // IMU orientation
         // TODO: fill in these values based on
@@ -64,62 +192,33 @@ public final class MecanumDrive {
 
         // drive model parameters
         public double inPerTick = 0.001978956;
-        public double lateralInPerTick = 0.0013863732202094405;
-        public double trackWidthTicks = 6488.883015684446;
+        public double lateralInPerTick = 0.001367789463080072;
+        public double trackWidthTicks = 6913.070212622687;
 
         // feedforward parameters (in tick units)
-        public double kS = 1.2147826978829488;
-        public double kV = 0.00032;
-        public double kA = 0.000046;
+        public double kS = 1.23;
+        public double kV = 0.00035;
+        public double kA = 0.00008;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 180;
+        public double maxWheelVel = 70;
         public double minProfileAccel = -40;
-        public double maxProfileAccel = 180;
+        public double maxProfileAccel = 70;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = 4* Math.PI; // shared with path
-        public double maxAngAccel = 4* Math.PI;
+        public double maxAngVel = 2 *Math.PI; // shared with path
+        public double maxAngAccel = 2 * Math.PI;
 
         // path controller gains
-        public double axialGain = 4;
-        public double lateralGain = 4;
-        public double headingGain = 4; // shared with turn
+        public double axialGain = 6.0;
+        public double lateralGain = 6.0;
+        public double headingGain = 6.0; // shared with turn
 
         public double axialVelGain = 0.0;
         public double lateralVelGain = 0.0;
         public double headingVelGain = 0.0; // shared with turn
     }
 
-    public static Params PARAMS = new Params();
-
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-
-    public final VoltageSensor voltageSensor;
-
-    public final LazyImu lazyImu;
-
-    public final Localizer localizer;
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-
     public class DriveLocalizer implements Localizer {
         public final Encoder leftFront, leftBack, rightBack, rightFront;
         public final IMU imu;
@@ -144,13 +243,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
+        public Pose2d getPose() {
+            return pose;
         }
 
         @Override
-        public Pose2d getPose() {
-            return pose;
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
         }
 
         @Override
@@ -216,63 +315,10 @@ public final class MecanumDrive {
         }
     }
 
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
-        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
-        rightBack = hardwareMap.get(DcMotorEx.class, "br");
-        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
         private final double[] xPoints, yPoints;
+        private double beginTs = -1;
 
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
@@ -299,7 +345,16 @@ public final class MecanumDrive {
                 t = Actions.now() - beginTs;
             }
 
-            if (t >= timeTrajectory.duration) {
+            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
+
+            if ((t >= timeTrajectory.duration && error.position.norm() < 1
+                    && robotVelRobot.linearVel.norm() < 0.5)
+                    || t >= timeTrajectory.duration + 0.01) {
                 leftFront.setPower(0);
                 leftBack.setPower(0);
                 rightBack.setPower(0);
@@ -308,10 +363,6 @@ public final class MecanumDrive {
                 return false;
             }
 
-            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
 
             PoseVelocity2dDual<Time> command = new HolonomicController(
                     PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
@@ -342,7 +393,6 @@ public final class MecanumDrive {
             p.put("y", localizer.getPose().position.y);
             p.put("heading (deg)", Math.toDegrees(localizer.getPose().heading.toDouble()));
 
-            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
             p.put("xError", error.position.x);
             p.put("yError", error.position.y);
             p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
@@ -450,51 +500,4 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        PoseVelocity2d vel = localizer.update();
-        poseHistory.add(localizer.getPose());
-
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-
-
-        return vel;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
 }

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

@@ -16,10 +16,11 @@ import java.util.Objects;
 @Config
 public final class PinpointLocalizer implements Localizer {
     public static class Params {
-        public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
+        public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
+        public double perpXTicks = -2088.4296466563774; // x position of the perpendicular encoder (in tick units)
     }
 
+
     public static Params PARAMS = new Params();
 
     public final GoBildaPinpointDriver driver;
@@ -48,6 +49,8 @@ public final class PinpointLocalizer implements Localizer {
         txWorldPinpoint = initialPose;
     }
 
+
+
     @Override
     public void setPose(Pose2d pose) {
         txWorldPinpoint = pose.times(txPinpointRobot.inverse());

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

@@ -2,7 +2,6 @@ package org.firstinspires.ftc.teamcode.teleop;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
@@ -46,9 +45,9 @@ public class TeleopV3 extends LinearOpMode {
     public double vel = 3000;
     public boolean autoVel = true;
     public boolean targetingHood = true;
-    public boolean autoHood = true;
+    //    public boolean autoHood = true;
     public double shootStamp = 0.0;
-    boolean fixedTurret = false;
+    //    boolean fixedTurret = false;
     Robot robot;
     MultipleTelemetry TELE;
     Light light;
@@ -66,16 +65,18 @@ public class TeleopV3 extends LinearOpMode {
     boolean reject = false;
     double xOffset = 0.0;
     double yOffset = 0.0;
-    double headingOffset = 0.0;
+    double hOffset = 0.0;
+    //    double headingOffset = 0.0;
     int ticker = 0;
 
-    boolean autoSpintake = false;
+    //    boolean autoSpintake = false;
     boolean enableSpindexerManager = true;
 
-    boolean overrideTurr = false;
+//    boolean overrideTurr = false;
 
     int intakeTicker = 0;
     private boolean shootAll = false;
+    boolean relocalize = false;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -112,7 +113,6 @@ public class TeleopV3 extends LinearOpMode {
         light.setState(StateEnums.LightState.MANUAL);
         limelightUsed = true;
 
-        robot.light.setPosition(1);
         while (opModeInInit()) {
             robot.limelight.start();
             if (redAlliance) {
@@ -123,6 +123,7 @@ public class TeleopV3 extends LinearOpMode {
                 light.setManualLightColor(Color.LightBlue);
 
             }
+            robot.light.setPosition(1);
 
             light.update();
         }
@@ -141,12 +142,7 @@ public class TeleopV3 extends LinearOpMode {
 
             //DRIVETRAIN:
 
-            drivetrain.drive(
-                    -gamepad1.right_stick_y,
-                    gamepad1.right_stick_x,
-                    gamepad1.left_stick_x,
-                    gamepad1.left_trigger
-            );
+            drivetrain.drive(-gamepad1.right_stick_y, gamepad1.right_stick_x, gamepad1.left_stick_x, gamepad1.left_trigger);
 
             if (gamepad1.right_bumper) {
 
@@ -155,10 +151,10 @@ public class TeleopV3 extends LinearOpMode {
 
                 light.setState(StateEnums.LightState.BALL_COUNT);
 
-            } else if (gamepad2.triangle){
+            } else if (gamepad2.triangle) {
                 light.setState(StateEnums.LightState.BALL_COLOR);
 
-            }  else {
+            } else {
                 light.setState(StateEnums.LightState.GOAL_LOCK);
             }
 
@@ -166,10 +162,11 @@ public class TeleopV3 extends LinearOpMode {
 
             double robX = drive.localizer.getPose().position.x;
             double robY = drive.localizer.getPose().position.y;
+            double robH = drive.localizer.getPose().heading.toDouble();
 
-            double robotX = robX - xOffset;
-            double robotY = robY - yOffset;
-            double robotHeading = drive.localizer.getPose().heading.toDouble();
+            double robotX = robX + xOffset;
+            double robotY = robY + yOffset;
+            double robotHeading = robH + hOffset;
 
             double goalX = -15;
             double goalY = 0;
@@ -178,12 +175,25 @@ public class TeleopV3 extends LinearOpMode {
             double dy = robotY - goalY;  // delta y from robot to goal
             Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
 
-            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+//            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 
-            targetingSettings = targeting.calculateSettings
-                    (robotX, robotY, robotHeading, 0.0, turretInterpolate);
+            targetingSettings = targeting.calculateSettings(robotX, robotY, robotHeading, 0.0, turretInterpolate);
 
-            turret.trackGoal(deltaPose);
+            //RELOCALIZATION
+
+            if (gamepad2.squareWasPressed()) {
+                relocalize = !relocalize;
+                gamepad2.rumble(500);
+            }
+
+            if (relocalize) {
+                turret.relocalize();
+                xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
+                yOffset = (turret.getLimelightX() * 39.3701) - robY;
+                hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
+            } else {
+                turret.trackGoal(deltaPose);
+            }
 
             //VELOCITY AUTOMATIC
             if (autoVel) {
@@ -210,11 +220,12 @@ public class TeleopV3 extends LinearOpMode {
 
             //SHOOTER:
             double voltage = robot.voltage.getVoltage();
-            flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
             flywheel.manageFlywheel(vel);
 
             //HOOD:
 
+
             if (targetingHood) {
                 servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
             } else {
@@ -251,7 +262,6 @@ public class TeleopV3 extends LinearOpMode {
             }
 
 
-
             if (enableSpindexerManager) {
                 //if (!shootAll) {
                 spindexer.processIntake();
@@ -262,7 +272,6 @@ public class TeleopV3 extends LinearOpMode {
                     spindexer.setIntakePower(1);
                 } else if (gamepad1.cross) {
                     spindexer.setIntakePower(-1);
-
                 } else {
                     spindexer.setIntakePower(0);
                 }
@@ -284,15 +293,11 @@ public class TeleopV3 extends LinearOpMode {
                     if (shooterTicker == 0) {
                         spindexer.prepareShootAllContinous();
                         //TELE.addLine("preparing to shoot");
-//                    } else if (shooterTicker == 2) {
+//                   else if (shooterTicker == 2) {
 //                        //servo.setTransferPos(transferServo_in);
 //                        spindexer.shootAll();
 //                        TELE.addLine("starting to shoot");
-                    } else if (!spindexer.shootAllComplete()) {
-                        servo.setTransferPos(transferServo_in);
-                        //TELE.addLine("shoot");
-                    } else {
-                        servo.setTransferPos(transferServo_out);
+                    } else if (spindexer.shootAllComplete()) {
                         //spindexPos = spindexer_intakePos1;
                         shootAll = false;
                         spindexer.resetSpindexer();
@@ -345,18 +350,22 @@ public class TeleopV3 extends LinearOpMode {
             // Targeting Debug
             TELE.addData("robotX", robotX);
             TELE.addData("robotY", robotY);
-            TELE.addData("robotInchesX", targeting.robotInchesX);
-            TELE.addData("robotInchesY", targeting.robotInchesY);
-            TELE.addData("Targeting Interpolate", turretInterpolate);
+            TELE.addData("robot H", robotHeading);
+//            TELE.addData("robotInchesX", targeting.robotInchesX);
+//            TELE.addData("robotInchesY", targeting.robotInchesY);
+//            TELE.addData("Targeting Interpolate", turretInterpolate);
             TELE.addData("Targeting GridX", targeting.robotGridX);
             TELE.addData("Targeting GridY", targeting.robotGridY);
-            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
-            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
-            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
+//            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+//            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
+//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+//            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
             TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
             TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
             TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
+            TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
+            TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
 
             TELE.update();
 

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

@@ -7,6 +7,7 @@ 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 com.qualcomm.robotcore.hardware.NormalizedRGBA;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -28,16 +29,20 @@ public class ColorTest extends LinearOpMode {
         if (isStopRequested()) return;
 
         while(opModeIsActive()){
-            double green1 = robot.color1.getNormalizedColors().green;
-            double blue1 = robot.color1.getNormalizedColors().blue;
-            double red1 = robot.color1.getNormalizedColors().red;
+
+
+            NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+
+            double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+
             double dist1 = robot.color1.getDistance(DistanceUnit.MM);
             color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
 
             TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
-            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 green", gP1);
             TELE.addData("Color1 distance (mm)", color1Distance);
 
+
 // ----- COLOR 2 -----
             double green2 = robot.color2.getNormalizedColors().green;
             double blue2 = robot.color2.getNormalizedColors().blue;

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

@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.tests;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
@@ -37,7 +38,7 @@ public class ShooterTest extends LinearOpMode {
     public static double P = 255.0;
     public static double I = 0.0;
     public static double D = 0.0;
-    public static double F = 90;
+    public static double F = 75;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
@@ -128,9 +129,9 @@ public class ShooterTest extends LinearOpMode {
 
             if (hoodPos != 0.501) {
                 if (enableHoodAutoOpen) {
-                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
                 } else {
-                    robot.hood.setPosition(hoodPos);
+                    robot.hood.setPosition(hoodPos + hoodOffset);
                 }
             }
 

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

@@ -0,0 +1,110 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Config
+@TeleOp
+public class SortingTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        int motif = 21;
+        boolean intaking = true;
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            spindexer.setIntakePower(1);
+            robot.transfer.setPower(1);
+
+            if (gamepad1.crossWasPressed()){
+                motif = 21;
+            } else if (gamepad1.squareWasPressed()){
+                motif = 22;
+            } else if (gamepad1.triangleWasPressed()){
+                motif = 23;
+            }
+            flywheel.manageFlywheel(2500);
+
+            if (gamepad1.leftBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.prepareShootAll(
+                                3,
+                                5,
+                                motif,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+            } else if (gamepad1.rightBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.shootAllAuto(
+                                3.5,
+                                0.014,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+                intaking = true;
+            } else if (intaking){
+                spindexer.processIntake();
+            }
+        }
+    }
+}

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

@@ -12,15 +12,13 @@ public class Flywheel {
     public double velo1 = 0.0;
     public double velo2 = 0.0;
     double targetVelocity = 0.0;
-    double previousTargetVelocity = 0.0;
-    double powPID = 0.0;
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
         shooterPIDF1 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
         shooterPIDF2 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
     }
 
     public double getVelo () {
@@ -52,6 +50,7 @@ public class Flywheel {
         if (Math.abs(prevF - f) > voltagePIDFDifference){
             robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
             robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+            prevF = f;
         }
     }
 
@@ -61,26 +60,23 @@ public class Flywheel {
     // Convert from Ticks per Second to RPM
     private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
 
-    public double manageFlywheel(double commandedVelocity) {
+    public void manageFlywheel(double commandedVelocity) {
 
         if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
             targetVelocity = commandedVelocity;
             // Add code here to set PIDF based on desired RPM
             //robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
             //robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
-            robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
-            robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
-
-            // Record Current Velocity
-            velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-            velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
-            velo = Math.max(velo1, velo2);
 
         }
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        velo = Math.max(velo1, velo2);
         // really should be a running average of the last 5
-        steady = (Math.abs(commandedVelocity - velo) < 200.0);
+        steady = (Math.abs(commandedVelocity - velo) < 50);
 
-        return powPID;
     }
 
     public void update()

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

@@ -12,7 +12,7 @@ public final class Light {
 
     private static Light instance;
     public static  double ballColorCycleTime = 1000; //in ms
-    public static double restingTime = 150; //in ms
+    public static double restingTime = 125; //in ms
 
     private Servo lightServo;
     private LightState state = LightState.DISABLED;

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

@@ -7,10 +7,10 @@ public class MeasuringLoopTimes {
     private double minLoopTime = 999999999999.0;
 
     private double maxLoopTime = 0.0;
-    private double mainLoopTime = 0.0;
+    double mainLoopTime = 0.0;
 
     private double MeasurementStart = 0.0;
-    private double currentTime = 0.0;
+    double currentTime = 0.0;
 
     private double avgLoopTime = 0.0;
     private int avgLoopTimeTicker = 0;

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

@@ -1,11 +1,9 @@
 package org.firstinspires.ftc.teamcode.utils;
 
 import com.acmerobotics.dashboard.config.Config;
-import com.arcrobotics.ftclib.hardware.ServoEx;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
-import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
@@ -31,11 +29,11 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 255.0;
-    public double shooterPIDF_I = 0.0;
-    public double shooterPIDF_D = 0.0;
-    public double shooterPIDF_F = 90;
-    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
+    public static double shooterPIDF_P = 255;
+    public static double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_F = 75;
+//    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;

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

@@ -14,8 +14,6 @@ public class Servos {
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
     public static double spin_scalar = 1.112;
     public static double spin_restPos = 0.155;
-    public static double turret_scalar = 1.009;
-    public static double turret_restPos = 0.0;
     Robot robot;
     PIDFController spinPID;
     PIDFController turretPID;
@@ -51,14 +49,13 @@ public class Servos {
         return (Math.abs(pos1 - pos2) < 0.005);
     }
 
-    public double setTransferPos(double pos) {
+    public void setTransferPos(double pos) {
         if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
             robot.transferServo.setPosition(pos);
             firstTransferPos = false;
         }
 
         prevTransferPos = pos;
-        return pos;
     }
 
     public double setSpinPos(double pos) {
@@ -72,29 +69,16 @@ public class Servos {
         return pos;
     }
 
-    public double setHoodPos(double pos){
+    public void setHoodPos(double pos){
         if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
             robot.hood.setPosition(pos + hoodOffset);
             firstHoodPos = false;
         }
 
         prevHoodPos = pos;
-        return pos;
     }
 
     public boolean spinEqual(double pos) {
         return Math.abs(pos - this.getSpinPos()) < 0.03;
     }
-
-    public double getTurrPos() {
-        return 1.0;
-    }
-
-    public double setTurrPos(double pos) {
-        return 1.0;
-    }
-
-    public boolean turretEqual(double pos) {
-        return true;
-    }
 }

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

@@ -16,6 +16,8 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
@@ -52,6 +54,9 @@ public class Spindexer {
     private double prevPos = 0.0;
     public double spindexerPosOffset = 0.00;
     public static int shootWaitMax = 4;
+    public static boolean whileShooting = false;
+    public static int waitFirstBallTicks = 4;
+    private int shootTicks = 0;
     public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
@@ -182,7 +187,7 @@ public class Spindexer {
         distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
 
         // Position 1
-        if (distanceRearCenter < 60) {
+        if (distanceRearCenter < 48) {
 
             // Mark Ball Found
             newPos1Detection = true;
@@ -204,7 +209,7 @@ public class Spindexer {
         // Position 2
         // Find which ball position this is in the spindexer
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 56) {
+        if (distanceFrontDriver < 50) {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
             if (detectFrontColor) {
@@ -530,18 +535,26 @@ public class Spindexer {
                 break;
 
             case SHOOT_PREP_CONTINOUS:
-                if (servos.spinEqual(spinStartPos)){
+                if (shootTicks > waitFirstBallTicks){
                     currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+                    shootTicks++;
+                } else if (servos.spinEqual(spinStartPos)){
+                    shootTicks++;
+                    servos.setTransferPos(transferServo_in);
                 } else {
                     servos.setSpinPos(spinStartPos);
                 }
                 break;
 
             case SHOOT_CONTINOUS:
+                whileShooting = true;
                 ballPositions[0].isEmpty = false;
                 ballPositions[1].isEmpty = false;
                 ballPositions[2].isEmpty = false;
                 if (servos.getSpinPos() > spinEndPos){
+                    whileShooting = false;
+                    servos.setTransferPos(transferServo_out);
+                    shootTicks = 0;
                     currentIntakeState = IntakeState.FINDNEXT;
                 } else {
                     double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
@@ -658,8 +671,10 @@ public class Spindexer {
         return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
     }
     private double prevPow = 0.501;
+    private boolean firstIntakePow = true;
     public void setIntakePower(double pow){
-        if (prevPow != 0.501 && prevPow != pow){
+        if (firstIntakePow || prevPow != pow){
+            firstIntakePow = false;
             robot.intake.setPower(pow);
         }
         prevPow = pow;

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

@@ -82,13 +82,19 @@ public class Targeting {
     public Targeting() {
     }
 
+    double cos54 = Math.cos(Math.toRadians(-54));
+    double sin54 = Math.sin(Math.toRadians(-54));
+
     public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
         Settings recommendedSettings = new Settings(0.0, 0.0);
-
-        double cos45 = Math.cos(Math.toRadians(-45));
-        double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
-        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
+        if (!redAlliance){
+            sin54 = Math.sin(Math.toRadians(54));
+        } else {
+            sin54 = Math.sin(Math.toRadians(-54));
+        }
+        // TODO: test these values determined from the fmap
+        double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
+        double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
 
         // Convert robot coordinates to inches
         robotInchesX = rotatedX * unitConversionFactor;
@@ -99,7 +105,17 @@ public class Targeting {
         int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
         int remX = Math.floorMod((int) robotInchesX, tileSize);
-        int remY = Math.floorMod((int) robotInchesX, tileSize);
+        int remY = Math.floorMod((int) robotInchesY, tileSize);
+
+        //clamp
+
+        //if (redAlliance) {
+            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //} else {
+//            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+//            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //}
 
         // Determine if we need to interpolate based on tile position.
         // if near upper or lower quarter or tile interpolate with next tile.
@@ -172,16 +188,6 @@ public class Targeting {
             interpolate = false;
         }
 
-        //clamp
-
-        if (redAlliance) {
-            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        } else {
-            robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        }
-
         // basic search
         if (true) { //!interpolate) {
             if ((robotGridY < 6) && (robotGridX < 6)) {

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

@@ -10,12 +10,11 @@ import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.teamcode.constants.Color;
-import org.firstinspires.ftc.teamcode.constants.StateEnums;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Config
@@ -24,23 +23,21 @@ public class Turret {
 
     public static double turretTolerance = 0.02;
     public static double turrPosScalar = 0.00011264432;
-    public static double turret180Range = 0.4;
-    public static double turrDefault = 0.37;
-    public static double turrMin = 0.15;
-    public static double turrMax = 0.85;
+    public static double turret180Range = 0.54;
+    public static double turrDefault = 0.35;
+    public static double turrMin = 0;
+    public static double turrMax = 1;
     public static boolean limelightUsed = true;
-
+    public static double limelightPosOffset = 5;
     public static double manualOffset = 0.0;
 
-    public static double visionCorrectionGain = 0.08;  // Single tunable gain
-    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
-    public static double cameraBearingEqual = 0.5;      // Deadband
+//    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+//    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+//    public static double cameraBearingEqual = 0.5;      // Deadband
 
-    // TODO: tune these values for limelight
-
-    public static double clampTolerance = 0.03;
+//    public static double clampTolerance = 0.03;
     //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
-    public static double B_PID_P = 0.066, B_PID_I = 0.0, B_PID_D = 0.007;
+    public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
@@ -49,7 +46,8 @@ public class Turret {
     double limelightPosX = 0.0;
     double limelightPosY = 0.0;
     LLResult result;
-
+    public static double TARGET_POSITION_TOLERANCE = 0.5;
+    public static double COLOR_OK_TOLERANCE = 2;
     boolean bearingAligned = false;
     private boolean lockOffset = false;
     private int obeliskID = 0;
@@ -57,12 +55,12 @@ public class Turret {
     private double currentTrackOffset = 0.0;
     private double lightColor = Color.LightRed;
     private int currentTrackCount = 0;
-    private double permanentOffset = 0.0;
+    double permanentOffset = 0.0;
     private int prevPipeline = -1;
-    private PIDController bearingPID;
+    PIDController bearingPID;
 
-    private double prevTurretPos = 0.0;
-    private boolean firstTurretPos = true;
+    public int llCoast = 0;
+    public int LL_COAST_TICKS = 60;
 
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
@@ -105,8 +103,12 @@ public class Turret {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
+    public static double alphaPosConstant = 0.3;
     private void limelightRead() { // only for tracking purposes, not general reads
-
+        Double xPos = null;
+        Double yPos = null;
+        Double zPos = null;
+        Double hPos = null;
         result = webcam.getLatestResult();
         if (result != null) {
             if (result.isValid()) {
@@ -118,9 +120,27 @@ public class Turret {
                     limelightPosX = botpose.getPosition().x;
                     limelightPosY = botpose.getPosition().y;
                 }
+                List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                    limelightTagPose = fiducial.getRobotPoseTargetSpace();
+                    if (limelightTagPose != null){
+                        xPos = limelightTagPose.getPosition().x;
+                        yPos = limelightTagPose.getPosition().y;
+                        zPos = limelightTagPose.getPosition().z;
+                        hPos = limelightTagPose.getOrientation().getYaw();
+                    }
+                }
 
             }
         }
+        if (xPos != null){
+            if (zPos<0) {
+                limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
+                limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
+                limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
+                limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
+            }
+        }
     }
 
     public double getBearing() {
@@ -133,12 +153,21 @@ public class Turret {
         return ty;
     }
 
+    Pose3D limelightTagPose;
+    double limelightTagX = 0.0;
+    double limelightTagY = 0.0;
+    double limelightTagZ = 0.0;
+    double limelightTagH = 0.0;
     public double getLimelightX() {
-        return limelightPosX;
+        return limelightTagX;
     }
+    public double getLimelightY() {return limelightTagY;}
+    public double getLimelightZ(){return limelightTagZ;}
+    public double getLimelightH(){return limelightTagH;}
 
-    public double getLimelightY() {
-        return limelightPosY;
+    public void relocalize(){
+        setTurret(turrDefault);
+        limelightRead();
     }
 
     public int detectObelisk() {
@@ -146,8 +175,12 @@ public class Turret {
         LLResult result = webcam.getLatestResult();
         if (result != null && result.isValid()) {
             List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            double prevTx  = -1000;
             for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                obeliskID = fiducial.getFiducialId();
+                double currentTx = fiducial.getTargetXDegrees();
+                if (currentTx > prevTx){
+                    obeliskID = fiducial.getFiducialId();
+                }
             }
         }
         return obeliskID;
@@ -168,16 +201,16 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
-
+    private double targetTx = 0;
+    public static double alphaTX = 0.5;
     private double bearingAlign(LLResult llResult) {
         double bearingOffset = 0.0;
-        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
-        final double MIN_OFFSET_POWER = 0.15;
-        final double TARGET_POSITION_TOLERANCE = 1.0;
-        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
-        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
-        final double DRIVE_POWER_REDUCTION = 2.0;
-        final double COLOR_OK_TOLERANCE = 2.5;
+        double tx = llResult.getTx();   // How far left or right the target is (degrees)
+        targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
+//        final double MIN_OFFSET_POWER = 0.15;
+//        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+//        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+//        final double DRIVE_POWER_REDUCTION = 2.0;
 
         if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
             bearingAligned = true;
@@ -241,11 +274,18 @@ public class Turret {
 
         turretAngleDeg += permanentOffset;
 
+
         limelightRead();
         // Active correction if we see the target
         if (result.isValid() && !lockOffset && limelightUsed) {
             currentTrackOffset += bearingAlign(result);
             currentTrackCount++;
+
+            TELE.addData("LL Tracking: ", llCoast);
+
+            // Assume the last tracked value is always better than
+            // any previous value, even if its not fully aligned.
+            llCoast = LL_COAST_TICKS;
 //            double bearingError = Math.abs(tagBearingDeg);
 //
 //            if (bearingError > cameraBearingEqual) {
@@ -276,9 +316,15 @@ public class Turret {
 //            if (currentTrackCount > 20) {
 //                offset = currentTrackOffset;
 //            }
-            lightColor = Color.LightRed;
-            currentTrackOffset = 0.0;
-            currentTrackCount = 0;
+            if (llCoast <= 0) {
+                TELE.addData("LL No Track: ", llCoast);
+                lightColor = Color.LightRed;
+                currentTrackOffset = 0.0;
+                currentTrackCount = 0;
+            } else {
+                TELE.addData("LL Coasting: ", llCoast);
+                llCoast--;
+            }
         }
 
         // Apply accumulated offset
@@ -293,7 +339,7 @@ public class Turret {
         targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
 
         // Interpolate towards target position
-        double currentPos = getTurrPos();
+//        double currentPos = getTurrPos();
         double turretPos = targetTurretPos;
 
         if (targetTurretPos == turrMin) {
@@ -303,7 +349,9 @@ public class Turret {
         }
 
         // Set servo positions
-        setTurret(turretPos + manualOffset);
+        if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
+            setTurret(turretPos + manualOffset);
+        }
 
 
         /* ---------------- TELEMETRY ---------------- */

build.dependencies.gradle

@@ -6,7 +6,6 @@ repositories {
     maven { url = 'https://maven.brott.dev/' } //RR
     maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
     maven { url = "https://repo.dairy.foundation/releases" } //AS
-
 }
 
 dependencies {
@@ -25,8 +24,6 @@ dependencies {
     implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
     implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
     implementation 'com.bylazar:fullpanels:1.0.2' //Panels
-
-
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
 
     implementation 'com.rowanmcalpin.nextftc:core:0.6.2' //NEXT FTC