test commit 3

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

@@ -5,23 +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;
 
@@ -39,20 +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 velGate0Start = 2700, hoodGate0Start = 0.6;
+
+    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;
-
-    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;
@@ -61,7 +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;
@@ -74,8 +104,9 @@ public class Auto_LT_Close extends LinearOpMode {
     Targeting.Settings targetingSettings;
     AutoActions autoActions;
     Light light;
-    double x1, y1, h1;
 
+    int motif = 0;
+    double x1, y1, h1;
     double x2a, y2a, h2a, t2a;
 
     double x2b, y2b, h2b, t2b;
@@ -87,13 +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;
+    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;
@@ -103,6 +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 {
@@ -132,18 +175,51 @@ 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 = false;
 
         robot.light.setPosition(1);
 
-        while (opModeInInit()) {
+        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);
+            } else {
                 servos.setHoodPos(shoot0Hood);
-            turret.setTurret(turrDefault);
+            }
 
             if (gamepad2.crossWasPressed()) {
                 redAlliance = !redAlliance;
@@ -164,9 +240,18 @@ public class Auto_LT_Close extends LinearOpMode {
                 ballCycles--;
             }
 
+            if (gamepad2.triangleWasPressed()){
+                gateCycle = !gateCycle;
+            }
+
+
+
             if (gamepad2.squareWasPressed()) {
-                turret.pipelineSwitch(1);
+
+                drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
                 robot.limelight.start();
+                limelightUsed = true;
+
                 gamepad2.rumble(500);
             }
 
@@ -197,9 +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;
@@ -207,6 +290,24 @@ 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;
@@ -238,9 +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;
@@ -248,20 +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;
             }
 
+            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));
+            }
 
+            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 (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 (ballCycles < 2){
+
+            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 {
@@ -269,19 +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),
@@ -290,9 +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();
         }
@@ -303,24 +471,53 @@ public class Auto_LT_Close extends LinearOpMode {
 
         if (opModeIsActive()) {
 
+            double stamp = getRuntime();
+
             robot.transfer.setPower(1);
 
+
+            if (gateCycle) {
+                startAutoGate();
+                shoot(0.501, 0.501, 0.501);
+                cycleStackMiddleGate();
+                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();
+
+                if (getRuntime() - stamp < lastShootTime) {
+                    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);
+                }
             }
 
             while (opModeIsActive()) {
@@ -340,13 +537,8 @@ public class Auto_LT_Close extends LinearOpMode {
 
     }
 
-    void shoot(){
-        Actions.runBlocking(
-                new ParallelAction(
-                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                )
-
-        );
+    void shoot(double x, double y, double z) {
+        Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, x, y, z));
     }
 
     void startAuto() {
@@ -355,14 +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
                         )
                 )
         );
+
+    }
+
+
+
+    void startAutoGate() {
+        assert shoot0 != null;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot0.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                flywheel0Time,
+                                motif,
+                                xShoot0,
+                                yShoot0,
+                                hShoot0
+                        )
+                )
+        );
+
+
     }
 
     void cycleStackClose() {
@@ -374,24 +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;
@@ -429,24 +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;
@@ -483,16 +672,7 @@ public class Auto_LT_Close extends LinearOpMode {
                                 x4b,
                                 y4b,
                                 h4b
-                        ),
-                        autoActions.detectObelisk(
-                                intake3Time,
-                                x4b,
-                                y4b,
-                                posXTolerance,
-                                posYTolerance,
-                                obeliskTurrPos3
                         )
-
                 )
         );
 
@@ -515,4 +695,118 @@ 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(
+                                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
+                        )
+                )
+        );
+    }
+
+    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

@@ -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)
                 )
 
         );
@@ -327,7 +334,8 @@ public class Auto_LT_Far extends LinearOpMode {
                                 flywheel0Time,
                                 0.501,
                                 0.501,
-                                0.501
+                                0.501,
+                                true
                         )
 
                 )

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

@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.autonomous.actions;
 
 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.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;
@@ -17,7 +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;
@@ -47,7 +51,7 @@ public class AutoActions{
     private int passengerSlotGreen = 0;
     private int rearSlotGreen = 0;
     private int mostGreenSlot = 0;
-    private double firstSpindexShootPos = spindexer_outtakeBall1;
+    public static double firstSpindexShootPos = spinStartPos;
     private boolean shootForward = true;
     public int motif = 0;
     double spinEndPos = ServoPositions.spinEndPos;
@@ -84,13 +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() {
@@ -102,21 +106,25 @@ 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;
+
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 if (ticker == 0) {
                     stamp = System.currentTimeMillis();
-                    manageShooter = manageShooterAuto(time, posX, posY, posH);
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                    driverSlotGreen = 0;
+                    passengerSlotGreen = 0;
+                    rearSlotGreen = 0;
                 }
                 ticker++;
                 servos.setTransferPos(transferServo_out);
@@ -128,27 +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++;
-                    }
-
-                    if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
-                        passengerSlotGreen++;
-                    }
-
-                    if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
+// 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++;
                         }
+                    }
 
-                    spindexer.setIntakePower(1);
+// 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++;
+                        }
+                    }
+
+// 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(-0.1);
 
                     decideGreenSlot = true;
 
@@ -167,29 +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;
@@ -207,7 +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;
 
@@ -215,6 +263,7 @@ public class AutoActions{
 
             int shooterTicker = 0;
             Action manageShooter = null;
+
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 drive.updatePoseEstimate();
@@ -228,7 +277,7 @@ public class AutoActions{
 
                 if (ticker == 1) {
                     stamp = System.currentTimeMillis();
-                    manageShooter = manageShooterAuto(shootTime, 0.501, 0.501, 0.501);
+                    manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
 
                 }
                 ticker++;
@@ -239,15 +288,14 @@ 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)) {
 
                     if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
-                        servos.setTransferPos(transferServo_out);
                         servos.setSpinPos(firstSpindexShootPos);
                     } else {
                         servos.setTransferPos(transferServo_in);
@@ -276,6 +324,77 @@ public class AutoActions{
         };
     }
 
+    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,
@@ -286,11 +405,12 @@ public class AutoActions{
             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);
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
                 }
                 ticker++;
 
@@ -305,12 +425,18 @@ public class AutoActions{
 
                 manageShooter.run(telemetryPacket);
 
-                return ((System.currentTimeMillis() - stamp) < (time * 1000)) && !spindexer.isFull();
+                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,
@@ -328,6 +454,7 @@ public class AutoActions{
 
             double stamp = 0.0;
             int ticker = 0;
+            int prevMotif = 0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -338,18 +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;
 
@@ -373,7 +505,8 @@ public class AutoActions{
             double time,
             double posX,
             double posY,
-            double posH
+            double posH,
+            boolean flywheelSensor
     ) {
 
         return new Action() {
@@ -383,6 +516,112 @@ 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++;
+
+                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) {
 
@@ -406,36 +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));
-                } else {
-                    deltaPose = new Pose2d(robotX, robotY, robotHeading);
-                }
-
-//                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
+                if (turr == 0.501) {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
                     if (!detectingObelisk) {
                         turret.trackGoal(deltaPose);
                     }
+                } else {
+                    turret.setTurret(turr);
+                }
 
-                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.manageFlywheel(vel);
 
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean shouldFinish = timeDone || flywheel.getSteady();
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
 
                 teleStart = currentPose;
 
                 TELE.addData("Steady?", flywheel.getSteady());
                 TELE.update();
 
-                return !shouldFinish;
+                return !timeDone;
             }
         };
     }

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 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 rPickupGateX = 70, rPickupGateY = 90, rPickupGateH = 140;
-    public static double bPickupGateX = 60, bPickupGateY = -88, bPickupGateH = -140;
 
     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

@@ -8,33 +8,33 @@ 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;
@@ -42,5 +42,21 @@ 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 = 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 = 0.06; //0.13;
+    public static double spindexer_intakePos1 = 0.18; //0.13;
 
-    public static double spindexer_intakePos2 = 0.25; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.43; //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 = 0.3;
-    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;
 
@@ -27,18 +27,20 @@ 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 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

@@ -201,18 +201,18 @@ public final class MecanumDrive {
         public double kA = 0.00008;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 90;
+        public double maxWheelVel = 70;
         public double minProfileAccel = -40;
-        public double maxProfileAccel = 90;
+        public double maxProfileAccel = 70;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
-        public double maxAngAccel = 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;
@@ -345,7 +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);
@@ -354,10 +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,
@@ -388,7 +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()));

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

@@ -65,6 +65,7 @@ public class TeleopV3 extends LinearOpMode {
     boolean reject = false;
     double xOffset = 0.0;
     double yOffset = 0.0;
+    double hOffset = 0.0;
     //    double headingOffset = 0.0;
     int ticker = 0;
 
@@ -75,6 +76,7 @@ public class TeleopV3 extends LinearOpMode {
 
     int intakeTicker = 0;
     private boolean shootAll = false;
+    boolean relocalize = false;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -111,7 +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) {
@@ -122,6 +123,7 @@ public class TeleopV3 extends LinearOpMode {
                 light.setManualLightColor(Color.LightBlue);
 
             }
+            robot.light.setPosition(1);
 
             light.update();
         }
@@ -140,12 +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) {
 
@@ -165,10 +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;
@@ -179,10 +177,23 @@ 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()) {
+                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) {
@@ -214,6 +225,7 @@ public class TeleopV3 extends LinearOpMode {
 
             //HOOD:
 
+
             if (targetingHood) {
                 servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
             } else {
@@ -250,7 +262,6 @@ public class TeleopV3 extends LinearOpMode {
             }
 
 
-
             if (enableSpindexerManager) {
                 //if (!shootAll) {
                 spindexer.processIntake();
@@ -282,7 +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");
@@ -339,18 +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;
@@ -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/Spindexer.java

@@ -187,7 +187,7 @@ public class Spindexer {
         distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
 
         // Position 1
-        if (distanceRearCenter < 60) {
+        if (distanceRearCenter < 48) {
 
             // Mark Ball Found
             newPos1Detection = true;
@@ -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/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

@@ -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
@@ -22,12 +23,12 @@ 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 = 0.8;
+    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
@@ -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;
@@ -99,8 +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()) {
@@ -112,9 +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() {
@@ -127,12 +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() {
@@ -140,10 +175,14 @@ 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) {
+                double currentTx = fiducial.getTargetXDegrees();
+                if (currentTx > prevTx){
                     obeliskID = fiducial.getFiducialId();
                 }
             }
+        }
         return obeliskID;
     }
 
@@ -235,11 +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) {
@@ -270,9 +316,15 @@ public class Turret {
 //            if (currentTrackCount > 20) {
 //                offset = currentTrackOffset;
 //            }
+            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