test commit 3

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

@@ -5,24 +5,37 @@ 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;
 
@@ -44,16 +57,16 @@ public class Auto_LT_Close extends LinearOpMode {
 
     public static double velGate0End = 2700, hoodGate0End = 0.35;
     public static double hood0MoveTime = 2;
-    public static double spindexerSpeedIncrease = 0.016;
+    public static double spindexerSpeedIncrease = 0.014;
 
-    public static double shootAllTime = 4;
+    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;
@@ -64,18 +77,22 @@ public class Auto_LT_Close extends LinearOpMode {
     public static double colorSenseTime = 1.2;
     public static double waitToShoot0 = 0.5;
     public static double waitToPickupGate2 = 0.3;
-    public static double pickupStackGateSpeed = 30;
-    public static double intake2TimeGate = 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 = 8;
-    public static double shootGateTime = 1.7;
+    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;
     MecanumDrive drive;
@@ -116,6 +133,7 @@ public class Auto_LT_Close extends LinearOpMode {
     double obeliskTurrPos2 = 0.0;
     double obeliskTurrPos3 = 0.0;
     double waitToPickupGate = 0;
+    double obeliskTurrPosAutoStart = 0;
 
     // initialize path variables here
     TrajectoryActionBuilder shoot0 = null;
@@ -157,15 +175,45 @@ public class Auto_LT_Close extends LinearOpMode {
 
         autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
 
-        servos.setSpinPos(spinStartPos);
+        servos.setSpinPos(spindexer_intakePos1);
 
         servos.setTransferPos(transferServo_out);
-
-        limelightUsed = true;
+        limelightUsed = false;
 
         robot.light.setPosition(1);
 
+        hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
+
         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);
@@ -173,8 +221,6 @@ public class Auto_LT_Close extends LinearOpMode {
                 servos.setHoodPos(shoot0Hood);
             }
 
-            turret.setTurret(turrDefault);
-
             if (gamepad2.crossWasPressed()) {
                 redAlliance = !redAlliance;
             }
@@ -194,15 +240,18 @@ public class Auto_LT_Close extends LinearOpMode {
                 ballCycles--;
             }
 
+            if (gamepad2.triangleWasPressed()){
+                gateCycle = !gateCycle;
+            }
+
+
+
             if (gamepad2.squareWasPressed()) {
-                if (!gateCycle) {
-                    turret.pipelineSwitch(1);
-                } else if (redAlliance) {
-                    turret.pipelineSwitch(4);
-                } else {
-                    turret.pipelineSwitch(2);
-                }
+
+                drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
                 robot.limelight.start();
+                limelightUsed = true;
+
                 gamepad2.rumble(500);
             }
 
@@ -258,6 +307,7 @@ public class Auto_LT_Close extends LinearOpMode {
                 pickupGateBY = rPickupGateBY;
                 pickupGateBH = rPickupGateBH;
 
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
                 obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
                 obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
                 obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
@@ -313,6 +363,7 @@ public class Auto_LT_Close extends LinearOpMode {
                 pickupGateBY = bPickupGateBY;
                 pickupGateBH = bPickupGateBH;
 
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
                 obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
                 obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
                 obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
@@ -320,37 +371,14 @@ public class Auto_LT_Close extends LinearOpMode {
 
             if (gateCycle) {
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                        .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
+                        .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
             } else {
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                        .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
+                        .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
             }
 
             if (gateCycle) {
-                pickup1 = drive.actionBuilder(new Pose2d(xShootGate, yShootGate, Math.toRadians(hShootGate)))
-                        .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 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
-                        .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 {
-                shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
-                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
-            }
-
-            if (gateCycle) {
-                pickup2 = drive.actionBuilder(new Pose2d(xShoot0, yShoot0, Math.toRadians(hShoot0)))
+                pickup2 = shoot0.endTrajectory().fresh()
                         .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
                         .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
                                 new TranslationalVelConstraint(pickupStackGateSpeed));
@@ -361,8 +389,12 @@ public class Auto_LT_Close extends LinearOpMode {
                                 new TranslationalVelConstraint(pickup1Speed));
             }
 
-            if (gateCycle) {
-                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
+            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)))
@@ -372,6 +404,42 @@ public class Auto_LT_Close extends LinearOpMode {
                         .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 {
+                shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
+                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+            }
+
             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),
@@ -386,17 +454,13 @@ public class Auto_LT_Close extends LinearOpMode {
                 waitToPickupGate = waitToPickupGateSolo;
             }
 
-            gateCyclePickup = drive.actionBuilder(new Pose2d(xShootGate, yShootGate, Math.toRadians(hShootGate)))
-                    .strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
-                    .waitSeconds(waitToPickupGate)
-                    .strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH));
-
-            gateCycleShoot = drive.actionBuilder(new Pose2d(pickupGateBX, pickupGateBY, Math.toRadians(pickupGateBH)))
-                    .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
-
+            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();
         }
@@ -411,16 +475,18 @@ public class Auto_LT_Close extends LinearOpMode {
 
             robot.transfer.setPower(1);
 
+
             if (gateCycle) {
                 startAutoGate();
-                shoot();
+                shoot(0.501, 0.501, 0.501);
                 cycleStackMiddleGate();
-                shoot();
+                shoot(0.501,0.501, 0.501);
 
                 while (getRuntime() - stamp < endGateTime) {
                     cycleGateIntake();
                     if (getRuntime() - stamp < lastShootTime) {
                         cycleGateShoot();
+                        shoot(0.501, 0.501, 0.501);
                     }
                 }
                 cycleStackCloseIntakeGate();
@@ -429,23 +495,28 @@ public class Auto_LT_Close extends LinearOpMode {
                     cycleStackCloseShootGate();
                 }
 
+                shoot(0.501, 0.501, 0.501);
+
             } else {
+
+
+
                 startAuto();
-                shoot();
+                shoot(0.501, 0.501,0.501);
 
                 if (ballCycles > 0) {
                     cycleStackClose();
-                    shoot();
+                    shoot(xShoot, yShoot, hShoot);
                 }
 
                 if (ballCycles > 1) {
                     cycleStackMiddle();
-                    shoot();
+                    shoot(xShoot, yShoot, hShoot);
                 }
 
                 if (ballCycles > 2) {
                     cycleStackFar();
-                    shoot();
+                    shoot(xLeave, yLeave, hLeave);
                 }
             }
 
@@ -466,8 +537,8 @@ public class Auto_LT_Close extends LinearOpMode {
 
     }
 
-    void shoot() {
-        Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease));
+    void shoot(double x, double y, double z) {
+        Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, x, y, z));
     }
 
     void startAuto() {
@@ -476,32 +547,39 @@ public class Auto_LT_Close extends LinearOpMode {
         Actions.runBlocking(
                 new ParallelAction(
                         shoot0.build(),
-                        autoActions.manageShooterAuto(
+                        autoActions.prepareShootAll(
+                                0.8,
                                 flywheel0Time,
+                                motif,
                                 x1,
                                 y1,
-                                h1,
-                                false
+                                h1
                         )
                 )
         );
+
     }
 
+
+
     void startAutoGate() {
         assert shoot0 != null;
 
         Actions.runBlocking(
                 new ParallelAction(
                         shoot0.build(),
-                        autoActions.manageShooterAuto(
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
                                 flywheel0Time,
+                                motif,
                                 xShoot0,
                                 yShoot0,
-                                hShoot0,
-                                false
+                                hShoot0
                         )
                 )
         );
+
+
     }
 
     void cycleStackClose() {
@@ -513,24 +591,10 @@ public class Auto_LT_Close extends LinearOpMode {
                                 x2b,
                                 y2b,
                                 h2b
-                        ),
-                        autoActions.detectObelisk(
-                                intake1Time,
-                                x2b,
-                                y2b,
-                                posXTolerance,
-                                posYTolerance,
-                                obeliskTurrPos1
                         )
-
                 )
         );
 
-        motif = turret.getObeliskID();
-
-        if (motif == 0) motif = 22;
-        prevMotif = motif;
-
         double posX;
         double posY;
         double posH;
@@ -568,24 +632,10 @@ public class Auto_LT_Close extends LinearOpMode {
                                 x3b,
                                 y3b,
                                 h3b
-                        ),
-                        autoActions.detectObelisk(
-                                intake2Time,
-                                x3b,
-                                y3b,
-                                posXTolerance,
-                                posYTolerance,
-                                obeliskTurrPos2
                         )
-
                 )
         );
 
-        motif = turret.getObeliskID();
-
-        if (motif == 0) motif = prevMotif;
-        prevMotif = motif;
-
         double posX;
         double posY;
         double posH;
@@ -622,16 +672,7 @@ public class Auto_LT_Close extends LinearOpMode {
                                 x4b,
                                 y4b,
                                 h4b
-                        ),
-                        autoActions.detectObelisk(
-                                intake3Time,
-                                x4b,
-                                y4b,
-                                posXTolerance,
-                                posYTolerance,
-                                obeliskTurrPos3
                         )
-
                 )
         );
 
@@ -656,11 +697,16 @@ public class Auto_LT_Close extends LinearOpMode {
     }
 
     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(
-                                intake2Time,
+                                intake2TimeGate,
                                 x3b,
                                 y3b,
                                 h3b
@@ -678,12 +724,14 @@ public class Auto_LT_Close extends LinearOpMode {
                                 motif,
                                 xShootGate,
                                 yShootGate,
-                                hShootGate)
+                                pickupGateAH)
                 )
         );
     }
 
     void cycleGateIntake() {
+        drive.updatePoseEstimate();
+
         Actions.runBlocking(
                 new ParallelAction(
                         gateCyclePickup.build(),
@@ -698,7 +746,13 @@ public class Auto_LT_Close extends LinearOpMode {
     }
 
     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(),
@@ -706,7 +760,7 @@ public class Auto_LT_Close extends LinearOpMode {
                                 shootGateTime,
                                 xShootGate,
                                 yShootGate,
-                                hShootGate,
+                                pickupGateAH,
                                 false
                         )
                 )
@@ -714,6 +768,14 @@ public class Auto_LT_Close extends LinearOpMode {
     }
 
     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(),
@@ -729,6 +791,11 @@ public class Auto_LT_Close extends LinearOpMode {
 
     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(),

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

@@ -63,7 +63,7 @@ public class Auto_LT_Far extends LinearOpMode {
     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 = 0.014;
@@ -74,8 +74,8 @@ public class Auto_LT_Far extends LinearOpMode {
     public static double shootStackTime = 2;
     public static double shootGateTime = 2.5;
     public static double colorSenseTime = 1;
-    public static double intakeStackTime = 2.5;
-    public static double intakeGateTime = 2;
+    public static double intakeStackTime = 4.5;
+    public static double intakeGateTime = 8;
     double obeliskTurrPos1 = 0.0;
     double obeliskTurrPos2 = 0.0;
     double obeliskTurrPos3 = 0.0;
@@ -184,6 +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 {
@@ -221,6 +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);
                 }
             }
@@ -240,7 +244,10 @@ public class Auto_LT_Far extends LinearOpMode {
                     .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),
+                    .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)))
@@ -314,7 +321,7 @@ public class Auto_LT_Far extends LinearOpMode {
     void shoot(){
         Actions.runBlocking(
                 new ParallelAction(
-                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, 0.501, 0.501, 0.501)
                 )
 
         );

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

@@ -18,7 +18,10 @@ 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;
@@ -48,7 +51,7 @@ public class AutoActions {
     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 int motif = 0;
     double spinEndPos = ServoPositions.spinEndPos;
@@ -85,13 +88,13 @@ public class AutoActions {
             void spin1PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall1;
                 shootForward = true;
-                spinEndPos = spindexer_outtakeBall3 + 0.1;
+                spinEndPos = 0.95;
             }
 
             void spin2PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall2;
                 shootForward = false;
-                spinEndPos = spindexer_outtakeBall3b - 0.1;
+                spinEndPos = 0.05;
             }
 
             void reverseSpin2PosFirst() {
@@ -103,13 +106,13 @@ public class AutoActions {
             void spin3PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall3;
                 shootForward = false;
-                spinEndPos = spindexer_outtakeBall1 - 0.1;
+                spinEndPos = 0.05;
             }
 
             void oddSpin3PosFirst() {
                 firstSpindexShootPos = spindexer_outtakeBall3b;
                 shootForward = true;
-                spinEndPos = spindexer_outtakeBall2 + 0.1;
+                spinEndPos = 0.95;
             }
 
             Action manageShooter = null;
@@ -119,6 +122,9 @@ public class AutoActions {
                 if (ticker == 0) {
                     stamp = System.currentTimeMillis();
                     manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                    driverSlotGreen = 0;
+                    passengerSlotGreen = 0;
+                    rearSlotGreen = 0;
                 }
                 ticker++;
                 servos.setTransferPos(transferServo_out);
@@ -130,27 +136,50 @@ public class AutoActions {
 
                 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;
 
@@ -169,29 +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;
@@ -209,7 +255,7 @@ public class AutoActions {
         };
     }
 
-    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;
 
@@ -231,7 +277,7 @@ public class AutoActions {
 
                 if (ticker == 1) {
                     stamp = System.currentTimeMillis();
-                    manageShooter = manageShooterAuto(shootTime, 0.501, 0.501, 0.501, false);
+                    manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
 
                 }
                 ticker++;
@@ -242,9 +288,9 @@ public class AutoActions {
 
                 boolean end;
                 if (shootForward) {
-                    end = prevSpinPos > spinEndPos;
+                    end = servos.getSpinPos() > spinEndPos;
                 } else {
-                    end = prevSpinPos < spinEndPos;
+                    end = servos.getSpinPos() < spinEndPos;
                 }
 
                 if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
@@ -379,8 +425,8 @@ public class AutoActions {
 
                 manageShooter.run(telemetryPacket);
 
-                if ((System.currentTimeMillis() - stamp) > (time * 1000) || spindexer.isFull()) {
-                    spindexer.setIntakePower(-0.1);
+                if ((System.currentTimeMillis() - stamp) > (time * 1000)) {
+                    servos.setSpinPos(spindexer_intakePos1);
                     return false;
                 } else {
                     return true;
@@ -408,6 +454,7 @@ public class AutoActions {
 
             double stamp = 0.0;
             int ticker = 0;
+            int prevMotif = 0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -418,18 +465,23 @@ 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;
 
@@ -464,14 +516,26 @@ public class AutoActions {
 
             final boolean timeFallback = (time != 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++;
@@ -486,14 +550,15 @@ 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));
-                    Turret.limelightUsed = false;
                 } else {
                     deltaPose = new Pose2d(dx, dy, robotHeading);
-                    Turret.limelightUsed = true;
                 }
+                Turret.limelightUsed = true;
 
 //                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 

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

@@ -10,14 +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 = 55, rStackPickupBY = 73, rStackPickupBH = 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 = 70, rPickupGateY = 90, rPickupGateH = 140;
+    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

@@ -13,7 +13,7 @@ public class Front_Poses {
     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 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;
@@ -42,8 +42,8 @@ public class Front_Poses {
     public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 55;
     public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -55;
 
-    public static double rShoot0X = 40, rShoot0Y = 0.1, rShoot0H = 0.1;
-    public static double bShoot0X = 40, bShoot0Y = -0.1, bShoot0H = -0.1;
+    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;
@@ -51,11 +51,12 @@ public class Front_Poses {
     public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
     public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
 
-    public static double rPickupGateAX = 24, rPickupGateAY = 50, rPickupGateAH = 140;
-    public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -140;
+    public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
+    public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
 
-    public static double rPickupGateBX = 38, rPickupGateBY = 68, rPickupGateBH = 180;
+    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

@@ -5,18 +5,18 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.13; //0.13;
+    public static double spindexer_intakePos1 = 0.18; //0.13;
 
-    public static double spindexer_intakePos2 = 0.32; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.5; //0.53;//0.66;
+    public static double spindexer_intakePos3 = 0.56; //0.53;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.78; //0.65; //0.24;
-    public static double spindexer_outtakeBall3b = 0.22; //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 = 0.7; //0.46; //0.6;
-    public static double spindexer_outtakeBall1 = 0.42; //0.27; //0.4;
-    public static double spinStartPos = 0.05;
+    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;
@@ -33,12 +33,14 @@ public class ServoPositions {
     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 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

@@ -210,9 +210,9 @@ public final class MecanumDrive {
         public double maxAngAccel = 2 * Math.PI;
 
         // path controller gains
-        public double axialGain = 6;
-        public double lateralGain = 6;
-        public double headingGain = 6; // 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;
@@ -352,9 +352,9 @@ public final class MecanumDrive {
 
             Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
 
-            if ((t >= timeTrajectory.duration && error.position.norm() < 2
+            if ((t >= timeTrajectory.duration && error.position.norm() < 1
                     && robotVelRobot.linearVel.norm() < 0.5)
-                    || t >= timeTrajectory.duration + 0.5) {
+                    || t >= timeTrajectory.duration + 0.01) {
                 leftFront.setPower(0);
                 leftBack.setPower(0);
                 rightBack.setPower(0);

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

@@ -49,6 +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

@@ -45,9 +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;
@@ -66,10 +66,10 @@ public class TeleopV3 extends LinearOpMode {
     double xOffset = 0.0;
     double yOffset = 0.0;
     double hOffset = 0.0;
-//    double headingOffset = 0.0;
+    //    double headingOffset = 0.0;
     int ticker = 0;
 
-//    boolean autoSpintake = false;
+    //    boolean autoSpintake = false;
     boolean enableSpindexerManager = true;
 
 //    boolean overrideTurr = false;
@@ -142,12 +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) {
 
@@ -156,10 +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);
             }
 
@@ -182,17 +177,16 @@ public class TeleopV3 extends LinearOpMode {
 
 //            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);
 
             //RELOCALIZATION
 
-            if (gamepad2.squareWasPressed()){
+            if (gamepad2.squareWasPressed()) {
                 relocalize = !relocalize;
                 gamepad2.rumble(500);
             }
 
-            if (relocalize){
+            if (relocalize) {
                 turret.relocalize();
                 xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
                 yOffset = (turret.getLimelightX() * 39.3701) - robY;
@@ -231,6 +225,7 @@ public class TeleopV3 extends LinearOpMode {
 
             //HOOD:
 
+
             if (targetingHood) {
                 servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
             } else {
@@ -267,7 +262,6 @@ public class TeleopV3 extends LinearOpMode {
             }
 
 
-
             if (enableSpindexerManager) {
                 //if (!shootAll) {
                 spindexer.processIntake();
@@ -299,7 +293,7 @@ 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");

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/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/Spindexer.java

@@ -187,7 +187,7 @@ public class Spindexer {
         distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
 
         // Position 1
-        if (distanceRearCenter < 65) {
+        if (distanceRearCenter < 48) {
 
             // Mark Ball Found
             newPos1Detection = true;
@@ -209,7 +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) {
@@ -671,8 +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/Turret.java

@@ -14,6 +14,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.teamcode.constants.Color;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Config
@@ -58,6 +59,9 @@ public class Turret {
     private int prevPipeline = -1;
     PIDController bearingPID;
 
+    public int llCoast = 0;
+    public int LL_COAST_TICKS = 60;
+
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;
@@ -130,7 +134,7 @@ public class Turret {
             }
         }
         if (xPos != null){
-            if (zPos>0) {
+            if (zPos<0) {
                 limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
                 limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
                 limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
@@ -171,8 +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;
@@ -266,11 +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) {
@@ -301,9 +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

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