put in poses for blue

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

@@ -318,8 +318,13 @@ public class Auto_LT_Close extends LinearOpMode {
                 obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
             }
 
+            if (gateCycle) {
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                         .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
+            } else {
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
+            }
 
             if (gateCycle) {
                 pickup1 = drive.actionBuilder(new Pose2d(xShootGate, yShootGate, Math.toRadians(hShootGate)))
@@ -344,10 +349,17 @@ public class Auto_LT_Close extends LinearOpMode {
                         .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
             }
 
+            if (gateCycle) {
+                pickup2 = drive.actionBuilder(new Pose2d(xShoot0, yShoot0, Math.toRadians(hShoot0)))
+                        .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) {
                 shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
@@ -368,13 +380,6 @@ 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));
 
-            shoot0ToPickup2 = drive.actionBuilder(new Pose2d(0,0,0))
-                    .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0))
-                    .waitSeconds(waitToPickupGate2)
-                    .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
-                    .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
-                            new TranslationalVelConstraint(pickupStackGateSpeed));
-
             if (withPartner) {
                 waitToPickupGate = waitToPickupGateWithPartner;
             } else {
@@ -407,8 +412,10 @@ public class Auto_LT_Close extends LinearOpMode {
             robot.transfer.setPower(1);
 
             if (gateCycle) {
-                shoot0Gate();
+                startAutoGate();
+                shoot();
                 cycleStackMiddleGate();
+                shoot();
 
                 while (getRuntime() - stamp < endGateTime) {
                     cycleGateIntake();
@@ -460,12 +467,7 @@ public class Auto_LT_Close extends LinearOpMode {
     }
 
     void shoot() {
-        Actions.runBlocking(
-                new ParallelAction(
-                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                )
-
-        );
+        Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease));
     }
 
     void startAuto() {
@@ -485,6 +487,23 @@ public class Auto_LT_Close extends LinearOpMode {
         );
     }
 
+    void startAutoGate() {
+        assert shoot0 != null;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot0.build(),
+                        autoActions.manageShooterAuto(
+                                flywheel0Time,
+                                xShoot0,
+                                yShoot0,
+                                hShoot0,
+                                false
+                        )
+                )
+        );
+    }
+
     void cycleStackClose() {
         Actions.runBlocking(
                 new ParallelAction(
@@ -636,59 +655,30 @@ public class Auto_LT_Close extends LinearOpMode {
         );
     }
 
-    void shoot0Gate(){
+    void cycleStackMiddleGate() {
         Actions.runBlocking(
                 new ParallelAction(
-                        shoot0ToPickup2.build(),
-                        new SequentialAction(
-                                new ParallelAction(
-                                        autoActions.manageShooterManual(
-                                                waitToShoot0,
-                                                0.501,
-                                                velGate0Start,
-                                                hoodGate0Start,
-                                                velGate0Start,
-                                                hoodGate0Start,
-                                                0.501
-                                        )
-                                ),
-                                autoActions.shootAllManual(
-                                        shootAllTime,
-                                        hood0MoveTime,
-                                        spindexerSpeedIncrease,
-                                        velGate0Start,
-                                        hoodGate0Start,
-                                        velGate0End,
-                                        hoodGate0End,
-                                        0.501),
+                        pickup2.build(),
                         autoActions.intake(
-                                        intake2TimeGate,
-                                        xShootGate,
-                                        yShootGate,
-                                        hShootGate
-                                )
+                                intake2Time,
+                                x3b,
+                                y3b,
+                                h3b
                         )
                 )
         );
-    }
 
-    void cycleStackMiddleGate(){
         servos.setSpinPos(spinStartPos);
         Actions.runBlocking(
                 new ParallelAction(
                         shoot2.build(),
-                        new SequentialAction(
-                                new ParallelAction(
-                                        autoActions.manageShooterAuto(
-                                                shoot2GateTime,
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot2Time,
+                                motif,
                                 xShootGate,
                                 yShootGate,
-                                                hShootGate,
-                                                false
-                                        )
-                                ),
-                                autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                        )
+                                hShootGate)
                 )
         );
     }
@@ -712,8 +702,6 @@ public class Auto_LT_Close extends LinearOpMode {
         Actions.runBlocking(
                 new ParallelAction(
                         gateCycleShoot.build(),
-                        new SequentialAction(
-                                new ParallelAction(
                         autoActions.manageShooterAuto(
                                 shootGateTime,
                                 xShootGate,
@@ -721,9 +709,6 @@ public class Auto_LT_Close extends LinearOpMode {
                                 hShootGate,
                                 false
                         )
-                                ),
-                                autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                        )
                 )
         );
     }
@@ -747,8 +732,6 @@ public class Auto_LT_Close extends LinearOpMode {
         Actions.runBlocking(
                 new ParallelAction(
                         shoot1.build(),
-                        new SequentialAction(
-                                new ParallelAction(
                         autoActions.manageShooterAuto(
                                 shoot1GateTime,
                                 xLeaveGate,
@@ -756,9 +739,6 @@ public class Auto_LT_Close extends LinearOpMode {
                                 hLeaveGate,
                                 false
                         )
-                                ),
-                                autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                        )
                 )
         );
     }

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

@@ -14,10 +14,10 @@ public class Back_Poses {
     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 bStackPickupBX = 55, bStackPickupBY = -73, bStackPickupBH = -140.1;
 
     public static double rPickupGateX = 70, rPickupGateY = 90, rPickupGateH = 140;
-    public static double bPickupGateX = 60, bPickupGateY = -88, bPickupGateH = -140;
+    public static double bPickupGateX = 70, bPickupGateY = -90, 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 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;
@@ -46,16 +46,16 @@ public class Front_Poses {
     public static double bShoot0X = 40, bShoot0Y = -0.1, bShoot0H = -0.1;
 
     public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
-    public static double bShootGateX = 40, bShootGateY = 1, bShootGateH = -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 = 24, rPickupGateAY = 50, rPickupGateAH = 140;
-    public static double bPickupGateAX = 36, bPickupGateAY = -50, bPickupGateAH = -140;
+    public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -140;
 
     public static double rPickupGateBX = 38, rPickupGateBY = 68, rPickupGateBH = 180;
-    public static double bPickupGateBX = 46, bPickupGateBY = -60, bPickupGateBH = -180;
+    public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
 
     public static Pose2d teleStart = new Pose2d(0, 0, 0);
 }

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

@@ -131,7 +131,6 @@ public class Turret {
         }
         if (xPos != null){
             if (zPos>0) {
-
                 limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
                 limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
                 limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);