Merge remote-tracking branch 'origin/danielv5' into update-teleop

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java

@@ -1,341 +1,366 @@
-//package org.firstinspires.ftc.teamcode.autonomous;
-//
-//import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
-//import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
-//import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
-//import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
-//import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
-//import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
-//import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
-//
-//import com.acmerobotics.dashboard.FtcDashboard;
-//import com.acmerobotics.dashboard.config.Config;
-//import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-//import com.pedropathing.follower.Follower;
-//import com.pedropathing.geometry.BezierCurve;
-//import com.pedropathing.geometry.BezierLine;
-//import com.pedropathing.geometry.Pose;
-//import com.pedropathing.paths.PathChain;
-//import com.qualcomm.hardware.lynx.LynxModule;
-//import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-//import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-//
-//import org.firstinspires.ftc.teamcode.constants.Color;
-//import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
-//import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
-//import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
-//import org.firstinspires.ftc.teamcode.utilsv2.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.utilsv2.Turret;
-//
-//import java.util.List;
-//
-//@Config
-//@Autonomous (preselectTeleOp = "TeleopV4")
-//public class Auto12Ball_Back_Sorted extends LinearOpMode {
-//    Robot robot;
-//    MultipleTelemetry TELE;
-//    //    Flywheel flywheel;
-////    Targeting targeting;
-////    Targeting.Settings targetingSettings;
-//    Follower follower;
-//    //    Turret turret;
-////    Spindexer spindexer;
-////    Servos servos;
-//    MeasuringLoopTimes loopTimes;
-//
-//    // Wait Times
-//    public static double shootTime = 2;
-//
-//    // Extra Variables
-//    public static double intakePower = 0.3;
-//    double shootX, shootY, shootH;
-//
-//    // Initialize path state machine
-//    private enum PathState {
-//        PUSHBOT, DRIVE_SHOOT0, WAIT_SHOOT0,
-//        PICKUP1, OPENGATE, DRIVE_SHOOT1, WAIT_SHOOT1,
-//        DRIVE_PICKUP2, PICKUP2, DRIVE_SHOOT2, WAIT_SHOOT2,
-//        DRIVE_PICKUP3, PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3
-//    }
-//    PathState pathState = PathState.DRIVE_SHOOT0;
-//
-//    // Poses
-//    public static double startPoseX = 84, startPoseY = 7, startPoseH = 90;
-//    public static double pushBotX = 94, pushBotY = 9, pushBotH = 100;
-//    public static double shoot0X = 91, shoot0Y = 80, shoot0H = 0;
-//    public static double pickup1X = 126, pickup1Y = 82, pickup1H = 0;
-//    public static double openGateControlX = 109.184421534937, openGateControlY = 74.24455899198165;
-//    public static double openGateX = 129, openGateY = 74, openGateH = 0;
-//    public static double shoot1ControlX = 112, shoot1ControlY = 75;
-//    public static double shoot1X = 91, shoot1Y = 80, shoot1H = -12;
-//    public static double drivePickup2X = 102, drivePickup2Y = 58.5, drivePickup2H = 0;
-//    public static double pickup2X = 133, pickup2Y = 57, pickup2H = 0;
-//    public static double shoot2ControlX = 102, shoot2ControlY = 63;
-//    public static double shoot2X = 91, shoot2Y = 80, shoot2H = -50;
-//    public static double drivePickup3X = 102, drivePickup3Y = 34.5, drivePickup3H = 0;
-//    public static double pickup3X = 133, pickup3Y = 34.5, pickup3H = 0;
-//    public static double shoot3ControlX = 97.62371134020621, shoot3ControlY = 34.813287514318446;
-//    public static double shoot3X = 84, shoot3Y = 105, shoot3H = -80;
-//    Pose startPose, pushBot, shoot0,
-//            pickup1, openGateControl, openGate, shoot1Control, shoot1,
-//            drivePickup2, pickup2, shoot2Control, shoot2,
-//            drivePickup3, pickup3, shoot3Control, shoot3;
-//    private void initializePoses(){
-//        startPose = new Pose(startPoseX, startPoseY, Math.toRadians(startPoseH));
-//        pushBot = new Pose(pushBotX, pushBotY, Math.toRadians(pushBotH));
-//        shoot0 = new Pose(shoot0X, shoot0Y, Math.toRadians(shoot0H));
-//        pickup1 = new Pose(pickup1X, pickup1Y, Math.toRadians(pickup1H));
-//        openGateControl = new Pose(openGateControlX, openGateControlY);
-//        openGate = new Pose(openGateX, openGateY, Math.toRadians(openGateH));
-//        shoot1Control = new Pose(shoot1ControlX, shoot1ControlY);
-//        shoot1 = new Pose(shoot1X, shoot1Y, Math.toRadians(shoot1H));
-//        drivePickup2 = new Pose(drivePickup2X, drivePickup2Y, Math.toRadians(drivePickup2H));
-//        pickup2 = new Pose(pickup2X, pickup2Y, Math.toRadians(pickup2H));
-//        shoot2Control = new Pose(shoot2ControlX, shoot2ControlY);
-//        shoot2 = new Pose(shoot2X, shoot2Y, Math.toRadians(shoot2H));
-//        drivePickup3 = new Pose(drivePickup3X, drivePickup3Y, Math.toRadians(drivePickup3H));
-//        pickup3 = new Pose(pickup3X, pickup3Y, Math.toRadians(pickup3H));
-//        shoot3Control = new Pose(shoot3ControlX, shoot3ControlY);
-//        shoot3 = new Pose(shoot3X, shoot3Y, Math.toRadians(shoot3H));
-//    }
-//
-//    //Building Paths
-//    PathChain startPose_pushBot, pushBot_shoot0,
-//            shoot0_pickup1, pickup1_openGate, openGate_shoot1,
-//            shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
-//            shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
-//    private void buildPaths(){
-//        startPose_pushBot = follower.pathBuilder()
-//                .addPath(new BezierLine(startPose, pushBot))
-//                .setLinearHeadingInterpolation(startPose.getHeading(), pushBot.getHeading())
-//                .build();
-//    }
-//
-//    //Path State Machine
-//    private boolean startAuto = true;
-//    private double timeStamp = 0;
-//    private void pathStateMachine(){
-//        double currentTime = (double) System.currentTimeMillis() / 1000;
-//        switch(pathState){
-//            case DRIVE_SHOOT0:
-//                if (startAuto){
-//                    follower.followPath(startPose_shoot0, true);
-//                    startAuto = false;
-//                    shootX = shoot0X;
-//                    shootY = shoot0Y;
-//                    shootH = shoot0H;
-//                }
-//                driveShoot(PathState.WAIT_SHOOT0, currentTime);
-//                break;
-//            case WAIT_SHOOT0:
-//                waitShoot(PathState.DRIVE_PICKUP1, shoot0_drivePickup1, currentTime);
-//                break;
-//            case DRIVE_PICKUP1:
-//                drivePickup(PathState.PICKUP1, drivePickup1_pickup1);
-//                break;
-//            case PICKUP1:
-//                pickup(PathState.DRIVE_SHOOT1, pickup1_shoot1);
-//                shootX = shoot1X;
-//                shootY = shoot1Y;
-//                shootH = shoot1H;
-//                break;
-//            case DRIVE_SHOOT1:
-//                intakePowerDown(timeStamp, currentTime);
-//                driveShoot(PathState.WAIT_SHOOT1, currentTime);
-//                break;
-//            case WAIT_SHOOT1:
-//                waitShoot(PathState.DRIVE_PICKUP2, shoot1_drivePickup2, currentTime);
-//                break;
-//            case DRIVE_PICKUP2:
-//                drivePickup(PathState.PICKUP2, drivePickup2_pickup2);
-//                break;
-//            case PICKUP2:
-//                pickup(PathState.DRIVE_SHOOT2, pickup2_shoot2);
-//                shootX = shoot2X;
-//                shootY = shoot2Y;
-//                shootH = shoot2H;
-//                break;
-//            case DRIVE_SHOOT2:
-//                intakePowerDown(timeStamp, currentTime);
-//                driveShoot(PathState.WAIT_SHOOT2, currentTime);
-//                break;
-//            case WAIT_SHOOT2:
-//                waitShoot(PathState.DRIVE_PICKUP3, shoot2_drivePickup3, currentTime);
-//                break;
-//            case DRIVE_PICKUP3:
-//                drivePickup(PathState.PICKUP3, drivePickup3_pickup3);
-//                break;
-//            case PICKUP3:
-//                pickup(PathState.DRIVE_SHOOT3, pickup3_shoot3);
-//                shootX = shoot3X;
-//                shootY = shoot3Y;
-//                shootH = shoot3H;
-//                break;
-//            case DRIVE_SHOOT3:
-//                intakePowerDown(timeStamp, currentTime);
-//                driveShoot(PathState.WAIT_SHOOT3, currentTime);
-//                break;
-//            case WAIT_SHOOT3:
-////                if (spindexer.shootAllComplete()){
-////                    spindexer.resetSpindexer();
-////                    TELE.addLine("Done Auto");
-////                }
-//                break;
-//            default:
-//                break;
-//        }
-//        TELE.update(); // use for debugging
-//    }
-//
-//    // Voids for State Machine
-//    private void intakePowerDown(double stamp, double currentTime) {
-//        double pow = (stamp - currentTime) / 2; // adjust denominator to see how much time to adjust
-//        if (pow < -1) {pow = 0;}
-////        spindexer.setIntakePower(pow);
-//    }
-//    private void driveShoot(PathState nextState, double currentTime){
-//        if (!follower.isBusy()){
-//            pathState = nextState;
-//            timeStamp = currentTime;
-////            spindexer.prepareShootAllContinous();
-//        }
-//    }
-//    private void waitShoot(PathState nextState, PathChain nextPath, double currentTime) {
-//        if (currentTime - timeStamp > shootTime) { // spindexer.shootAllComplete() ||
-////            spindexer.resetSpindexer();
-//            pathState = nextState;
-//            follower.followPath(nextPath, true);
-////            spindexer.setIntakePower(1);
-//        }
-//    }
-//    private void drivePickup(PathState nextState, PathChain nextPath) {
-//        if (!follower.isBusy()) {
-//            pathState = nextState;
-//            follower.followPath(nextPath, intakePower, false);
-//        }
-//    }
-//    private void pickup(PathState nextState, PathChain nextPath) {
-//        if (!follower.isBusy()) {
-//            pathState = nextState;
-//            follower.followPath(nextPath, true);
-//        }
-//    }
-//
-//    // Used for changing alliance
-//    private double adjustXPoseBasedOnAlliance(double pose) {return (144-pose);}
-//    private double adjustHeadingBasedOnAlliance(double heading){
-//        heading = 180 - heading;
-//        while (heading > 180) {heading-=360;}
-//        while (heading <= -180) {heading+=360;}
-//        return heading;
-//    }
-//
-//    @Override
-//    public void runOpMode() throws InterruptedException {
-//        Robot.resetInstance();
-//        robot = Robot.getInstance(hardwareMap);
-//        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
-//        for (LynxModule hub : allHubs) {
-//            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
-//        }
-//        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-////        flywheel = new Flywheel(hardwareMap);
-////        targeting = new Targeting();
-////        targetingSettings = new Targeting.Settings(0,0);
-//        follower = Constants.createFollower(hardwareMap);
-//        follower.setStartingPose(new Pose(72,72,0));
-////        turret = new Turret(robot, TELE, robot.limelight);
-////        spindexer = new Spindexer(hardwareMap);
-////        servos = new Servos(hardwareMap);
-//        loopTimes = new MeasuringLoopTimes();
-//        loopTimes.init();
-//
-////        robot.light.setPosition(Color.LightRed);
-//
-//        boolean initializeRobot = false;
-//        while (opModeInInit()){
-//            follower.update();
-//
-//            if (gamepad1.crossWasPressed() && !initializeRobot){
-//                Color.redAlliance = !Color.redAlliance;
-////                if (Color.redAlliance){
-////                    robot.light.setPosition(Color.LightRed);
-////                } else {
-////                    robot.light.setPosition(Color.LightBlue);
-////                }
-//
-////                double[] xPoses = {startPoseX, shoot0X,
-////                        drivePickup1X, pickup1X, shoot1X,
-////                        drivePickup2ControlX, drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
-////                        drivePickup3ControlX, drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
-////
-////                double[] headings = {startPoseH, shoot0H,
-////                        drivePickup1H, pickup1H, shoot1H,
-////                        drivePickup2H, pickup2H, shoot2H,
-////                        drivePickup3H, pickup3H, shoot3H};
-//
-////                for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
-////                for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
-//            }
-//
-//            if (gamepad1.triangleWasPressed()){
-//                initializeRobot = true;
-//                initializePoses();
-//                follower.setPose(startPose);
-//                buildPaths();
-//                sleep(2000);
-//
-////                turret.setTurret(turrDefault);
-////                servos.setSpinPos(spinStartPos);
-//            }
-//
-//            TELE.addData("Red Alliance?", Color.redAlliance);
-//            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
-//            TELE.addData("Start Pose", follower.getPose());
-//            TELE.update();
-//        }
-//
-//        waitForStart();
-//
-//        if (isStopRequested()) return;
-//
-////        robot.transfer.setPower(1);
-//        limelightUsed = false;
-//
-//        while (opModeIsActive()){
-//            follower.update();
-//            pathStateMachine();
-//            Pose currentPose = follower.getPose();
-////            teleStartPoseX = currentPose.getX();
-////            teleStartPoseY = currentPose.getY();
-////            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
-////
-////            turret.trackGoal(new Pose(shootX, shootY, Math.toRadians(shootH)));
-////            targetingSettings = targeting.calculateSettings(shootX, shootY, Math.toRadians(shootH), 0, turretInterpolate);
-////
-////            double voltage = robot.voltage.getVoltage();
-////            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
-////            flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-////            servos.setHoodPos(targetingSettings.hoodAngle);
-////
-////            if (driveToShoot()){servos.setSpinPos(spinStartPos);}
-////            else {spindexer.processIntake();}
-//
-//            for (LynxModule hub : allHubs) {
-//                hub.clearBulkCache();
-//            }
-//            loopTimes.loop();
-//
-//            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
-//            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
-//            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
-//            TELE.addData("X:", currentPose.getX());
-//            TELE.addData("Y:", currentPose.getY());
-//            TELE.addData("H:", currentPose.getHeading());
-//            TELE.update();
-//        }
-//    }
-//}
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierCurve;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
+import org.firstinspires.ftc.teamcode.utilsv2.Turret;
+
+import java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV4")
+public class Auto12Ball_Back_Sorted extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Follower follower;
+    MeasuringLoopTimes loopTimes;
+
+    // Wait Times
+    public static double shootTime = 2;
+    public static double openGateTime = 1.5;
+
+    // Extra Variables
+    public static double intakePower = 0.3;
+    double shootX, shootY, shootH;
+
+    // Initialize path state machine
+    private enum PathState {
+        PUSHBOT, DRIVE_SHOOT0, WAIT_SHOOT0,
+        PICKUP1, DRIVE_OPENGATE, OPENGATE, DRIVE_SHOOT1, WAIT_SHOOT1,
+        DRIVE_PICKUP2, PICKUP2, DRIVE_SHOOT2, WAIT_SHOOT2,
+        DRIVE_PICKUP3, PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3
+    }
+    PathState pathState = PathState.PUSHBOT;
+
+    // Poses
+    public static double startPoseX = 84, startPoseY = 7, startPoseH = 90;
+    public static double pushBotX = 94, pushBotY = 9, pushBotH = 100;
+    public static double shoot0ControlX = 88.29667812142038, shoot0ControlY = 52.03493699885454;
+    public static double shoot0X = 91, shoot0Y = 80, shoot0H = 0;
+    public static double pickup1ControlX = 109.29381443298968, pickup1ControlY = 82.70618556701031;
+    public static double pickup1X = 126, pickup1Y = 82, pickup1H = 0;
+    public static double openGateControlX = 109.184421534937, openGateControlY = 74.24455899198165;
+    public static double openGateX = 129, openGateY = 74, openGateH = 0;
+    public static double shoot1ControlX = 112, shoot1ControlY = 75;
+    public static double shoot1X = 91, shoot1Y = 80, shoot1H = -12;
+    public static double drivePickup2X = 102, drivePickup2Y = 58.5, drivePickup2H = 0;
+    public static double pickup2X = 133, pickup2Y = 57, pickup2H = 0;
+    public static double shoot2ControlX = 102, shoot2ControlY = 63;
+    public static double shoot2X = 91, shoot2Y = 80, shoot2H = -50;
+    public static double drivePickup3X = 102, drivePickup3Y = 34.5, drivePickup3H = 0;
+    public static double pickup3X = 133, pickup3Y = 34.5, pickup3H = 0;
+    public static double shoot3ControlX = 97.62371134020621, shoot3ControlY = 34.813287514318446;
+    public static double shoot3X = 84, shoot3Y = 105, shoot3H = -80;
+    Pose startPose, pushBot, shoot0Control, shoot0,
+            pickup1Control, pickup1, openGateControl, openGate, shoot1Control, shoot1,
+            drivePickup2, pickup2, shoot2Control, shoot2,
+            drivePickup3, pickup3, shoot3Control, shoot3;
+    private void initializePoses(){
+        startPose = new Pose(startPoseX, startPoseY, Math.toRadians(startPoseH));
+        pushBot = new Pose(pushBotX, pushBotY, Math.toRadians(pushBotH));
+        shoot0Control = new Pose(shoot0ControlX, shoot0ControlY);
+        shoot0 = new Pose(shoot0X, shoot0Y, Math.toRadians(shoot0H));
+        pickup1Control = new Pose(pickup1ControlX, pickup1ControlY);
+        pickup1 = new Pose(pickup1X, pickup1Y, Math.toRadians(pickup1H));
+        openGateControl = new Pose(openGateControlX, openGateControlY);
+        openGate = new Pose(openGateX, openGateY, Math.toRadians(openGateH));
+        shoot1Control = new Pose(shoot1ControlX, shoot1ControlY);
+        shoot1 = new Pose(shoot1X, shoot1Y, Math.toRadians(shoot1H));
+        drivePickup2 = new Pose(drivePickup2X, drivePickup2Y, Math.toRadians(drivePickup2H));
+        pickup2 = new Pose(pickup2X, pickup2Y, Math.toRadians(pickup2H));
+        shoot2Control = new Pose(shoot2ControlX, shoot2ControlY);
+        shoot2 = new Pose(shoot2X, shoot2Y, Math.toRadians(shoot2H));
+        drivePickup3 = new Pose(drivePickup3X, drivePickup3Y, Math.toRadians(drivePickup3H));
+        pickup3 = new Pose(pickup3X, pickup3Y, Math.toRadians(pickup3H));
+        shoot3Control = new Pose(shoot3ControlX, shoot3ControlY);
+        shoot3 = new Pose(shoot3X, shoot3Y, Math.toRadians(shoot3H));
+    }
+
+    //Building Paths
+    PathChain startPose_pushBot, pushBot_shoot0,
+            shoot0_pickup1, pickup1_openGate, openGate_shoot1,
+            shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
+            shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
+    private void buildPaths(){
+        startPose_pushBot = follower.pathBuilder()
+                .addPath(new BezierLine(startPose, pushBot))
+                .setLinearHeadingInterpolation(startPose.getHeading(), pushBot.getHeading())
+                .build();
+
+        pushBot_shoot0 = follower.pathBuilder()
+                .addPath(new BezierCurve(pushBot, shoot0Control, shoot0))
+                .setLinearHeadingInterpolation(pushBot.getHeading(), shoot0.getHeading())
+                .build();
+
+        shoot0_pickup1 = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot0, pickup1Control, pickup1))
+                .setLinearHeadingInterpolation(shoot0.getHeading(), pickup1.getHeading())
+                .build();
+
+        pickup1_openGate = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup1, openGateControl, openGate))
+                .setLinearHeadingInterpolation(pickup1.getHeading(), openGate.getHeading())
+                .build();
+
+        openGate_shoot1 = follower.pathBuilder()
+                .addPath(new BezierCurve(openGate, shoot1Control, shoot1))
+                .setLinearHeadingInterpolation(openGate.getHeading(), shoot1.getHeading())
+                .build();
+
+        shoot1_drivePickup2 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot1, drivePickup2))
+                .setLinearHeadingInterpolation(shoot1.getHeading(), drivePickup2.getHeading())
+                .build();
+
+        drivePickup2_pickup2 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup2, pickup2))
+                .setLinearHeadingInterpolation(drivePickup2.getHeading(), pickup2.getHeading())
+                .build();
+
+        pickup2_shoot2 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup2, shoot2Control, shoot2))
+                .setLinearHeadingInterpolation(pickup2.getHeading(), shoot2.getHeading())
+                .build();
+
+        shoot2_drivePickup3 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot2, drivePickup3))
+                .setLinearHeadingInterpolation(shoot2.getHeading(), drivePickup3.getHeading())
+                .build();
+
+        drivePickup3_pickup3 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup3, pickup3))
+                .setLinearHeadingInterpolation(drivePickup3.getHeading(), pickup3.getHeading())
+                .build();
+
+        pickup3_shoot3 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup3, shoot3Control, shoot3))
+                .setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private boolean startAuto = true;
+    private double timeStamp = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case PUSHBOT:
+                if (startAuto){
+                    follower.followPath(startPose_pushBot, true);
+                    startAuto = false;
+                    shootX = shoot0X;
+                    shootY = shoot0Y;
+                    shootH = shoot0H;
+                }
+                if (!follower.isBusy()){
+                    follower.followPath(pushBot_shoot0, true);
+                    pathState = PathState.DRIVE_SHOOT0;
+                }
+                break;
+            case DRIVE_SHOOT0:
+                if (!follower.isBusy()){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT0;
+                }
+                break;
+            case WAIT_SHOOT0:
+                if (currentTime - timeStamp > shootTime){
+                    follower.followPath(shoot0_pickup1, intakePower, false);
+                    pathState = PathState.PICKUP1;
+                }
+                break;
+            case PICKUP1:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup1_openGate, true);
+                    pathState = PathState.OPENGATE;
+                    shootX = shoot1X;
+                    shootY = shoot1Y;
+                    shootH = shoot1H;
+                }
+                break;
+            case DRIVE_OPENGATE:
+                if (!follower.isBusy()){
+                    pathState = PathState.OPENGATE;
+                    timeStamp = currentTime;
+                }
+                break;
+            case OPENGATE:
+                if (currentTime - timeStamp > openGateTime){
+                    follower.followPath(openGate_shoot1, true);
+                    pathState = PathState.DRIVE_SHOOT1;
+                }
+                break;
+            case DRIVE_SHOOT1:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT1;
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT1:
+                if (currentTime - timeStamp > shootTime){
+                    follower.followPath(shoot1_drivePickup2, true);
+                    pathState = PathState.DRIVE_PICKUP2;
+                }
+                break;
+            case DRIVE_PICKUP2:
+                if (!follower.isBusy()) {
+                    follower.followPath(drivePickup2_pickup2, intakePower, false);
+                    pathState = PathState.PICKUP2;
+                }
+                break;
+            case PICKUP2:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup2_shoot2, true);
+                    pathState = PathState.DRIVE_SHOOT2;
+                }
+                shootX = shoot2X;
+                shootY = shoot2Y;
+                shootH = shoot2H;
+                break;
+            case DRIVE_SHOOT2:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT2;
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT2:
+                if (currentTime - timeStamp > shootTime){
+                    follower.followPath(shoot2_drivePickup3, true);
+                    pathState = PathState.DRIVE_PICKUP3;
+                }
+                break;
+            case DRIVE_PICKUP3:
+                if (!follower.isBusy()){
+                    follower.followPath(drivePickup3_pickup3, intakePower, false);
+                    pathState = PathState.PICKUP3;
+                }
+                break;
+            case PICKUP3:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup3_shoot3, true);
+                    pathState = PathState.DRIVE_SHOOT3;
+                }
+                shootX = shoot3X;
+                shootY = shoot3Y;
+                shootH = shoot3H;
+                break;
+            case DRIVE_SHOOT3:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT3;
+                }
+                break;
+            case WAIT_SHOOT3:
+                // add line here to say "done auto'
+                break;
+            default:
+                break;
+        }
+        TELE.update(); // use for debugging
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return (144-pose);}
+    private double adjustHeadingBasedOnAlliance(double heading){
+        heading = 180 - heading;
+        while (heading > 180) {heading-=360;}
+        while (heading <= -180) {heading+=360;}
+        return heading;
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        follower = Constants.createFollower(hardwareMap);
+        follower.setStartingPose(new Pose(72,72,0));
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+            follower.update();
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+
+                double[] xPoses = {startPoseX, pushBotX, shoot0ControlX, shoot0X,
+                        pickup1ControlX, pickup1X, openGateControlX, openGateX, shoot1ControlX, shoot1X,
+                        drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
+                        drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
+
+                double[] headings = {startPoseH, pushBotH, shoot0H,
+                        pickup1H, openGateH, shoot1H,
+                        drivePickup2H, pickup2H, shoot2H,
+                        drivePickup3H, pickup3H, shoot3H};
+
+                for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
+                for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initializeRobot = true;
+                initializePoses();
+                follower.setPose(startPose);
+                buildPaths();
+                sleep(2000);
+            }
+
+            TELE.addData("Red Alliance?", Color.redAlliance);
+            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
+            TELE.addData("Start Pose", follower.getPose());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        limelightUsed = false;
+
+        while (opModeIsActive()){
+            follower.update();
+            pathStateMachine();
+            Pose currentPose = follower.getPose();
+            teleStartPoseX = currentPose.getX();
+            teleStartPoseY = currentPose.getY();
+            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("X:", currentPose.getX());
+            TELE.addData("Y:", currentPose.getY());
+            TELE.addData("H:", currentPose.getHeading());
+            TELE.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java

@@ -25,6 +25,8 @@ public class TeleopV4 extends LinearOpMode {
     MultipleTelemetry TELE;
     Follower follower;
     SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -40,7 +42,11 @@ public class TeleopV4 extends LinearOpMode {
         Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
         follower.setStartingPose(start);
 
-        shooter = new Shooter(robot, TELE, follower, Color.redAlliance);
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel);
         shooter.setState(Shooter.ShooterState.TRACK_GOAL);
         spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE);
         spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);

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

@@ -124,7 +124,8 @@ public class Hardware_Tester extends LinearOpMode {
 
             // Sensor Data
 
-//            TELE.addData("Beam Break 1?", robot.beam1.isPressed());
+            TELE.addData("Beam Break insideBeam?", robot.insideBeam.isPressed());
+            TELE.addData("Beam Break outsideBeam?", robot.outsideBeam.isPressed());
 //            TELE.addData("Beam Break 2?", robot.beam2.isPressed());
 //            TELE.addData("Beam Break 3?", robot.beam3.isPressed());
 

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

@@ -11,25 +11,26 @@ import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
 import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
 import org.firstinspires.ftc.teamcode.utilsv2.Robot;
 import org.firstinspires.ftc.teamcode.utilsv2.Shooter;
+import org.firstinspires.ftc.teamcode.utilsv2.Turret;
 
 @Config
 @TeleOp
 public class NewShooterTest extends LinearOpMode {
 
     Robot robot;
-
+    Flywheel flywheel;
+    Turret turret;
     MultipleTelemetry TELE;
 
-    Flywheel rpmFlywheel;
 
     public static boolean intake = true;
     public static boolean shoot = false;
     public static double intakePower = 1.0;
     public static double transferShootPower = -1;
-    public static double transferIntakePower = -1.0;
+    public static double transferIntakePower = -1;
     public static double turretPos = 0.51;
     public static double hoodPos = 0.51;
-    public static double flywheel = 0;
+    public static double flywheel_velo = 0;
 
     public static double shooterP = 255, shooterI = 0, shooterD = 0, shooterF = 75;
 
@@ -45,22 +46,25 @@ public class NewShooterTest extends LinearOpMode {
     @Override
     public void runOpMode() throws InterruptedException {
 
+        Robot.resetInstance();
+
         robot = Robot.getInstance(hardwareMap);
 
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
 
+
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
         Shooter shooter = new Shooter(
                 robot,
-                new MultipleTelemetry(
-                        telemetry,
-                        FtcDashboard.getInstance().getTelemetry()
-                ),
+                TELE,
                 Constants.createFollower(hardwareMap),
-                true
+                true,
+                turret,
+                flywheel
         );
 
-        rpmFlywheel = new Flywheel(robot);
-
         shooter.setState(Shooter.ShooterState.MANUAL);
 
         waitForStart();
@@ -71,9 +75,9 @@ public class NewShooterTest extends LinearOpMode {
 
             robot.setHoodPos(hoodPos);
             shooter.setTurretPosition(turretPos);
-            shooter.setFlywheelVelocity(flywheel);
+            shooter.setFlywheelVelocity(flywheel_velo);
             double voltage = robot.voltage.getVoltage();
-            rpmFlywheel.setPIDF(shooterP, shooterI, shooterD, shooterF / voltage);
+            flywheel.setPIDF(shooterP, shooterI, shooterD, shooterF / voltage);
 
             robot.setSpinPos(ServoPositions.spindexer_A2);
 
@@ -130,7 +134,11 @@ public class NewShooterTest extends LinearOpMode {
                 }
             }
 
-            TELE.addData("Flywheel Velocity", (robot.shooter1.getVelocity() * 60) / 28);
+            TELE.addData("Flywheel Velocity1", (robot.shooter1.getVelocity() * 60) / 28);
+            TELE.addData("Flywheel Velocity2", (robot.shooter2.getVelocity() * 60) / 28);
+            TELE.addData("Flywheel Averag Velocity", flywheel.getAverageVelocity());
+            TELE.addData("PIDF Coefficients", Flywheel.shooterPIDF);
+            TELE.addData("Power", flywheel.getShooterPower());
             TELE.update();
 
             shooter.update();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java

@@ -5,12 +5,19 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
+
 import java.util.LinkedList;
 
 public class Flywheel {
     Robot robot;
 
-    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+//    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+    public static PIDFCoefficients shooterPIDF;
+    public static double shooterPIDF_P = 255;
+    public static double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_F = 75;
 
     private double velo = 0.0;
     private double velo1 = 0.0;
@@ -26,7 +33,7 @@ public class Flywheel {
 
     public Flywheel(Robot rob) {
         robot = rob;
-        shooterPIDF1 = new PIDFCoefficients(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / 12);
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
     }
 
     public double getVelo() {
@@ -50,25 +57,26 @@ public class Flywheel {
     }
 
     // Set the robot PIDF for the next cycle.
-    private double prevF = 0;
-
-    public static double voltagePIDFDifference = 0.8;
 
     public void setPIDF(double p, double i, double d, double f) {
 
-        shooterPIDF1.p = p;
-        shooterPIDF1.i = i;
-        shooterPIDF1.d = d;
-        shooterPIDF1.f = f;
+        shooterPIDF.p = p;
+        shooterPIDF.i = i;
+        shooterPIDF.d = d;
+        shooterPIDF.f = f;
 
-        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+    }
 
-//        if (Math.abs(prevF - f) > voltagePIDFDifference) {
-//
-//            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
-//
-//            prevF = f;
-//        }
+    private double prevF = 0;
+
+    public static double voltagePIDFDifference = 0.8;
+    public void setF(double f){
+        if (Math.abs(prevF - f) > voltagePIDFDifference) {
+            shooterPIDF.f = f;
+            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+            prevF = f;
+        }
     }
 
     // Convert from RPM to Ticks per Second
@@ -99,6 +107,7 @@ public class Flywheel {
         averageVelocity = sum / velocityHistory.size();
     }
 
+    double power;
     public void manageFlywheel(double commandedVelocity) {
 
         if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
@@ -106,7 +115,7 @@ public class Flywheel {
         }
 
         robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
-        double power = robot.shooter1.getPower();
+        power = robot.shooter1.getPower();
         robot.shooter2.setPower(power);
 
         velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
@@ -119,4 +128,5 @@ public class Flywheel {
 
         steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
     }
+    public double getShooterPower(){return power;}
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
+import android.view.View;
+
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -19,6 +21,7 @@ public class Robot {
     // Singleton instance
     private static Robot instance;
 
+
     /**
      * Returns the existing Robot instance or creates one if it doesn't exist.
      */
@@ -45,11 +48,6 @@ public class Robot {
     public DcMotorEx backRight;
     public DcMotorEx intake;
     public DcMotorEx transfer;
-    public PIDFCoefficients shooterPIDF;
-    public static double shooterPIDF_P = 255;
-    public static double shooterPIDF_I = 0.0;
-    public static double shooterPIDF_D = 0.0;
-    public static double shooterPIDF_F = 75;
     //    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
@@ -65,7 +63,6 @@ public class Robot {
     public Servo spin2;
     public TouchSensor insideBeam;
     public TouchSensor outsideBeam;
-
     public RevColorSensorV3 revSensor;
 
     public VoltageSensor voltage;
@@ -106,10 +103,9 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
 
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
+//        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter1.setVelocity(0);
+//        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
         shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
         hood = hardwareMap.get(Servo.class, "hood");

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java

@@ -21,16 +21,21 @@ public class Shooter {
 
     Follower follow;
 
-    public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance) {
+    public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance, Turret turret, Flywheel flywheel) {
         this.robot = rob;
-        this.fly = new Flywheel(rob);
-        this.turr = new Turret(rob);
+        this.fly = flywheel;
+        this.turr = turret;
         this.follow = follower;
         this.commander = new VelocityCommander();
 
         setRedAlliance(redAlliance);
 
-        if (redAlliance) {
+    }
+
+    public void setRedAlliance(boolean input) {
+        this.red = input;
+
+        if (this.red) {
             goalX = 144;
         } else {
             goalX = 0;
@@ -38,10 +43,6 @@ public class Shooter {
         goalY = 144;
     }
 
-    public void setRedAlliance(boolean input) {
-        this.red = input;
-    }
-
     private double flywheelVelocity = 0.0;
     private double turretPosition = 0.5;