Add a PID to Limelight tracking bringing in track function from Abyss. Simplify spindexer due to errors with advanced code. Start adding Interpolation to Targeting (commented out for now).

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

@@ -5,11 +5,11 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.19;
+    public static double spindexer_intakePos1 = 0.18;
 
-    public static double spindexer_intakePos2 = 0.35;//0.5;
+    public static double spindexer_intakePos2 = 0.36;//0.5;
 
-    public static double spindexer_intakePos3 = 0.51;//0.66;
+    public static double spindexer_intakePos3 = 0.54;//0.66;
 
     public static double spindexer_outtakeBall3 = 0.47;
 

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

@@ -21,4 +21,6 @@ public class ShooterVars {
     // VELOCITY CONSTANTS
     public static int AUTO_CLOSE_VEL = 3175; //3300;
     public static int AUTO_FAR_VEL = 4000; //TODO: test this
+
+    public static Types.Motif currentMotif = Types.Motif.NONE;
 }

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

@@ -0,0 +1,10 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+public class Types {
+    public enum Motif {
+        NONE,
+        GPP,  // Green, Purple, Purple
+        PGP,  // Purple, Green, Purple
+        PPG   // Purple, Purple, Green
+    }
+}

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

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.constants;
-
-public class blank {
-}

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

@@ -19,6 +19,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -26,7 +27,6 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -166,10 +166,7 @@ public class TeleopV3 extends LinearOpMode {
 
 //        robot.limelight.start();
 
-        AprilTagWebcam webcam = new AprilTagWebcam();
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
+        Turret turret = new Turret(robot, TELE, robot.limelight);
         waitForStart();
 
         waitForStart();
@@ -399,8 +396,6 @@ public class TeleopV3 extends LinearOpMode {
 
             turret.trackGoal(deltaPose);
 
-            webcam.update();
-
             //VELOCITY AUTOMATIC
             if (targetingVel) {
                 vel = targetingSettings.flywheelRPM;
@@ -637,7 +632,6 @@ public class TeleopV3 extends LinearOpMode {
                 }
             }
 
-
 //
 //            if (shootAll) {
 //
@@ -809,7 +803,6 @@ public class TeleopV3 extends LinearOpMode {
             for (LynxModule hub : allHubs) {
                 hub.clearBulkCache();
             }
-
 //
             TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
             TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
@@ -821,6 +814,8 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
             TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velo1", flywheel.velo1);
+            TELE.addData("Velo2", flywheel.velo2);
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
@@ -836,7 +831,7 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("shootall commanded", shootAll);
             // Targeting Debug
             TELE.addData("robotX", robotX);
-            TELE.addData( "robotY", robotY);
+            TELE.addData("robotY", robotY);
             TELE.addData("robotInchesX", targeting.robotInchesX);
             TELE.addData( "robotInchesY", targeting.robotInchesY);
             TELE.addData("Targeting Interpolate", turretInterpolate);

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

@@ -4,32 +4,35 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import java.util.List;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
 @Config
 @TeleOp
 //TODO: fix to get the apriltag that it is reading
 public class LimelightTest extends LinearOpMode {
     MultipleTelemetry TELE;
+    Turret turret;
+    Robot robot;
     public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
     public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
+    public static boolean turretMode = false;
+    public static double turretPos = 0.501;
     @Override
     public void runOpMode() throws InterruptedException {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        limelight.pipelineSwitch(pipeline);
+        robot = new Robot(hardwareMap);
+        turret = new Turret(robot, TELE, robot.limelight);
+        robot.limelight.pipelineSwitch(pipeline);
         waitForStart();
         if (isStopRequested()) return;
-        limelight.start();
         while (opModeIsActive()){
             if (mode == 0){
-                limelight.pipelineSwitch(pipeline);
-                LLResult result = limelight.getLatestResult();
+                robot.limelight.pipelineSwitch(pipeline);
+                LLResult result = robot.limelight.getLatestResult();
                 if (result != null) {
                     if (result.isValid()) {
                         TELE.addData("tx", result.getTx());
@@ -38,40 +41,29 @@ public class LimelightTest extends LinearOpMode {
                     }
                 }
             } else if (mode == 1){
-                limelight.pipelineSwitch(1);
-                LLResult result = limelight.getLatestResult();
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        int id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
+                int obeliskID = turret.detectObelisk();
+                TELE.addData("Limelight ID", obeliskID);
                 TELE.update();
+            } else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
+                double tx = turret.getBearing();
+                double ty = turret.getTy();
+                double x = turret.getLimelightX();
+                double y = turret.getLimelightY();
+                TELE.addData("tx", tx);
+                TELE.addData("ty", ty);
+                TELE.addData("x", x);
+                TELE.addData("y", y);
+                TELE.update();
+            } else {
+                robot.limelight.pipelineSwitch(0);
+            }
+
+            if (turretMode){
+                if (turretPos != 0.501){
+                    turret.manualSetTurret(turretPos);
+                }
             }
 
         }
-            } else if (mode == 2){
-                limelight.pipelineSwitch(4);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else if (mode == 3){
-                limelight.pipelineSwitch(5);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else {
-                limelight.pipelineSwitch(0);
-            }
-        }
     }
 }

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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 
@@ -12,28 +13,40 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
 
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
 
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-
-    public static int mode = 0;
+    public static int mode = 1;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
     public static double Velocity = 0.0;
-    public static double P = 40.0;
-    public static double I = 0.3;
-    public static double D = 7.0;
-    public static double F = 10.0;
+    public static double P = 255.0;
+    public static double I = 0.0;
+    public static double D = 0.0;
+    public static double F = 7.5;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
+
+    public static boolean intake = false;
     Robot robot;
     Flywheel flywheel;
 
+    double shootStamp = 0.0;
+    boolean shootAll = false;
+
+    public double spinPow = 0.09;
+
+    public static boolean enableHoodAutoOpen = false;
+    public double hoodAdjust = 0.0;
+    public static double hoodAdjustFactor = 1.0;
+    Spindexer spindexer ;
+
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -41,6 +54,7 @@ public class ShooterTest extends LinearOpMode {
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
         flywheel = new Flywheel(hardwareMap);
+        spindexer = new Spindexer(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -61,15 +75,60 @@ public class ShooterTest extends LinearOpMode {
             }
 
             if (hoodPos != 0.501) {
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                } else {
                     robot.hood.setPosition(hoodPos);
                 }
+            }
+
+            if (intake) {
+                robot.intake.setPower(1);
+
+            } else {
+                robot.intake.setPower(0);
+            }
+
 
-            robot.transfer.setPower(transferPower);
             if (shoot) {
+                shootStamp = getRuntime();
+                shootAll = true;
+                shoot = false;
+                robot.transfer.setPower(transferPower);
+            }
+            if (shootAll) {
+
+                //intake = false;
+                //reject = false;
+
+                // TODO: Change starting position based on desired order to shoot green ball
+                //spindexPos = spindexer_intakePos1;
+
+                if (getRuntime() - shootStamp < 3.5) {
+
                     robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+
                 } else {
                     robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.transfer.setPower(0);
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
                 }
+            } else {
+                spindexer.processIntake();
+            }
+
             TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());

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

@@ -8,15 +8,12 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Turret;
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
 @Autonomous
 @Config
 public class TurretTest extends LinearOpMode {
-
     public static boolean zeroTurr = false;
     @Override
     public void runOpMode() throws InterruptedException {
@@ -26,13 +23,9 @@ public class TurretTest extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
 
-        AprilTagWebcam webcam = new AprilTagWebcam();
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
+        Turret turret = new Turret(robot, TELE, robot.limelight);
         waitForStart();
 
-
         MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
 
         while(opModeIsActive()){
@@ -40,17 +33,16 @@ public class TurretTest extends LinearOpMode {
             drive.updatePoseEstimate();
             turret.trackGoal(drive.localizer.getPose());
 
-            webcam.update();
-            webcam.displayAllTelemetry();
-
             TELE.addData("tpos", turret.getTurrPos());
+            TELE.addData("Limelight tx", turret.getBearing());
+            TELE.addData("Limelight ty", turret.getTy());
+            TELE.addData("Limelight X", turret.getLimelightX());
+            TELE.addData("Limelight Y", turret.getLimelightY());
 
             if(zeroTurr){
                 turret.zeroTurretEncoder();
             }
 
-
-
             TELE.update();
         }
 

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

@@ -9,8 +9,8 @@ public class Flywheel {
     Robot robot;
     public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
-    double velo1 = 0.0;
-    double velo2 = 0.0;
+    public double velo1 = 0.0;
+    public double velo2 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
@@ -38,10 +38,14 @@ public class Flywheel {
 
     // Set the robot PIDF for the next cycle.
     public void setPIDF(double p, double i, double d, double f) {
-        robot.shooterPIDF.p = p;
-        robot.shooterPIDF.i = i;
-        robot.shooterPIDF.d = d;
-        robot.shooterPIDF.f = f;
+        shooterPIDF1.p = p;
+        shooterPIDF1.i = i;
+        shooterPIDF1.d = d;
+        shooterPIDF1.f = f;
+        shooterPIDF2.p = p;
+        shooterPIDF2.i = i;
+        shooterPIDF2.d = d;
+        shooterPIDF2.f = f;
     }
 
     // Convert from RPM to Ticks per Second
@@ -54,10 +58,6 @@ public class Flywheel {
         targetVelocity = commandedVelocity;
 
         // Add code here to set PIDF based on desired RPM
-        //robot.shooterPIDF.p = P;
-        //robot.shooterPIDF.i = I;
-        //robot.shooterPIDF.d = D;
-        //robot.shooterPIDF.f = F;
 
         robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
         robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);

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

@@ -35,11 +35,9 @@ public class PositionalServoProgrammer extends LinearOpMode {
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
 
-        AprilTagWebcam cam = new AprilTagWebcam();
 
-        cam.init(robot, TELE);
 
-        turret = new Turret(robot, TELE,cam );
+        turret = new Turret(robot, TELE, robot.limelight );
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){

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

@@ -20,8 +20,8 @@ public class Robot {
 
     //Initialize Public Components
 
-    public static boolean usingLimelight = false;
-    public static boolean usingCamera = true;
+    public static boolean usingLimelight = true;
+    public static boolean usingCamera = false;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -29,10 +29,10 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
-    public double shooterPIDF_I = 0.6;
-    public double shooterPIDF_D = 5.0;
-    public double shooterPIDF_F = 10.0;
+    public double shooterPIDF_P = 255.0;
+    public double shooterPIDF_I = 0.0;
+    public double shooterPIDF_D = 0.0;
+    public double shooterPIDF_F = 7.5;
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;

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

@@ -8,7 +8,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Servos {
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
     public static double spin_scalar = 1.0086;
     public static double spin_restPos = 0.0;
@@ -40,7 +40,7 @@ public class Servos {
     }
 
     public boolean spinEqual(double pos) {
-        return Math.abs(pos - this.getSpinPos()) < 0.02;
+        return Math.abs(pos - this.getSpinPos()) < 0.03;
     }
 
     public double getTurrPos() {

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

@@ -16,9 +16,11 @@ import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Types;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
 public class Spindexer {
+
     Robot robot;
     Servos servos;
     Flywheel flywheel;
@@ -36,6 +38,7 @@ public class Spindexer {
     public double distanceFrontDriver = 0.0;
     public double distanceFrontPassenger = 0.0;
 
+    public Types.Motif desiredMotif = Types.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
         REARCENTER,
@@ -62,6 +65,8 @@ public class Spindexer {
         SHOOTNEXT,
         SHOOTMOVING,
         SHOOTWAIT,
+        SHOOT_ALL_PREP,
+        SHOOT_ALL_READY
     };
 
     public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
@@ -272,7 +277,6 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
                     stopSpindexer();
-                    detectBalls(true, true);
                     unknownColorDetect = 0;
                 } else {
                     // Keep moving the spindexer
@@ -283,7 +287,7 @@ public class Spindexer {
                 if (unknownColorDetect >5) {
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
-                    detectBalls(true, true);
+                    //detectBalls(true, true);
                     unknownColorDetect++;
                 }
                 break;
@@ -301,32 +305,32 @@ public class Spindexer {
                 // Find Next Open Position and start movement
                 double currentSpindexerPos = servos.getSpinPos();
                 double commandedtravelDistance = 2.0;
-                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
-                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
-                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
-                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                if (ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
+                    //commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -337,7 +341,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(false, false);
+                    //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -355,6 +359,28 @@ public class Spindexer {
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
                 break;
 
+            case SHOOT_ALL_PREP:
+                // We get here with function call to prepareToShootMotif
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_READY;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                }
+                break;
+
+            case SHOOT_ALL_READY:
+                // Double Check Colors
+                //detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
+                    // All ball shot move to intake state
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                }
+                // Maintain Position
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
             case SHOOTNEXT:
                 // Find Next Open Position and start movement
                 if (!ballPositions[0].isEmpty) {
@@ -383,16 +409,6 @@ public class Spindexer {
                 // Stopping when we get to the new position
                 if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
-                    ballPositions[commandedIntakePosition].isEmpty = true;
-                    // Advance to next full position and wait
-//                    commandedIntakePosition++;
-//                    if (commandedIntakePosition > 2) {
-//                        commandedIntakePosition = 0;
-//                    }
-//                    // Continue moving to next position
-//                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-//                    currentIntakeState = Spindexer.IntakeState.MOVING;
-
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
@@ -404,7 +420,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(true, false);
+                    //detectBalls(true, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -420,6 +436,55 @@ public class Spindexer {
         return false;
     }
 
+    public void setDesiredMotif (Types.Motif newMotif) {
+        desiredMotif = newMotif;
+    }
+
+    // Returns the best fit for the motiff
+    public int bestFitMotif () {
+        switch (desiredMotif) {
+            case GPP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 2;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 1;
+                }
+                //break;
+            case PGP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else {
+                    return 3;
+                }
+                //break;
+            case PPG:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 2;
+                }
+                //break;
+            case NONE:
+                return 0;
+                //break;
+        }
+        return 0;
+    }
+
+    void prepareToShootMotif () {
+        commandedIntakePosition = bestFitMotif();
+    }
+
+    void shootAllToIntake () {
+        currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+    }
+
     public void update()
     {
     }

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

@@ -9,11 +9,13 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Targeting {
     MultipleTelemetry TELE;
 
-    double cancelOffsetX = 7.071067811;
-    double cancelOffsetY = 7.071067811;
+    double cancelOffsetX = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
     double unitConversionFactor = 0.95;
 
     int tileSize = 24; //inches
+    public final int TILE_UPPER_QUARTILE = 18;
+    public final int TILE_LOWER_QUARTILE = 6;
 
     public double robotInchesX, robotInchesY = 0.0;
 
@@ -37,33 +39,33 @@ public class Targeting {
     static {
         KNOWNTARGETING = new Settings[6][6];
         // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
-        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
-        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
-        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
-        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
+        KNOWNTARGETING[0][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][2] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[0][3] = new Settings (2800.0, 0.68);
+        KNOWNTARGETING[0][4] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings (3000.0, 0.58);
         // ROW 1
-        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
-        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
-        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
-        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
-        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
-        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
+        KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78);
+        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
         // ROW 2
-        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
-        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
-        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
+        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
+        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
         // ROW 3
-        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
-        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
-        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
-        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
+        KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][2] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][3] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
         // ROW 4
         KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
         KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
@@ -89,8 +91,8 @@ public class Targeting {
 
         double cos45 = Math.cos(Math.toRadians(-45));
         double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
-        double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
+        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
 
         // Convert robot coordinates to inches
         robotInchesX = rotatedX * unitConversionFactor;
@@ -100,6 +102,60 @@ public class Targeting {
         int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
         int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
+        int remX = Math.floorMod((int)robotInchesX, tileSize);
+        int remY = Math.floorMod((int)robotInchesX, tileSize);
+
+        // Determine if we need to interpolate based on tile position.
+        // if near upper or lower quarter or tile interpolate with next tile.
+        int x1 = 0;
+        int y1 = 0;
+//        interpolate = false;
+//        if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+//                (robotGridX < 5) && (robotGridY <5)) {
+//            // +X, +Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY + 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+//                (robotGridX > 0) && (robotGridY > 0)) {
+//            // -X, -Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY - 1;
+//        } else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+//                (robotGridX < 5) && (robotGridY > 0)) {
+//            // +X, -Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY - 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+//                (robotGridX > 0) && (robotGridY < 5)) {
+//            // -X, +Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY + 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
+//            // -X, Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY;
+//        } else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
+//            // X, -Y
+//            interpolate = true;
+//            x1 = robotGridX;
+//            y1 = robotGridY - 1;
+//        } else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
+//            // +X, Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY;
+//        } else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
+//            // X, +Y
+//            interpolate = true;
+//            x1 = robotGridX;
+//            y1 = robotGridY + 1;
+//        }
+
         //clamp
         robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
         robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
@@ -107,17 +163,17 @@ public class Targeting {
         // basic search
         if(!interpolate) {
             if ((robotGridY < 6) && (robotGridX <6)) {
-                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
             }
             return recommendedSettings;
         } else {
 
             // bilinear interpolation
             int x0 = robotGridX;
-            int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
-            int y0 = gridY;
-            int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+            //int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            int y0 = robotGridY;
+            //int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
 
             double x = (robotInchesX - (x0 * tileSize)) / tileSize;
             double y = (robotInchesY - (y0 * tileSize)) / tileSize;

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

@@ -2,12 +2,20 @@ package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 
+import static java.lang.Math.abs;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDController;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+import java.util.List;
 
 @Config
 public class Turret {
@@ -16,33 +24,50 @@ public class Turret {
     public static double turrPosScalar = 0.00011264432;
     public static double turret180Range = 0.4;
     public static double turrDefault = 0.4;
-    public static double cameraBearingEqual = 1;
-    public static double errorLearningRate = 0.15;
-    public static double turrMin = 0.2;
-    public static double turrMax = 0.8;
-    public static double mult = 0.0;
-    private boolean lockOffset = false;
-    public static double deltaAngleThreshold = 0.02;
-    public static double angleMultiplier = 0.0;
-    Robot robot;
-    MultipleTelemetry TELE;
-    AprilTagWebcam webcam;
-    private int obeliskID = 0;
-    private double turrPos = 0.0;
-    private double offset = 0.0;
-    private double bearing = 0.0;
+    public static double turrMin = 0.15;
+    public static double turrMax = 0.85;
+
+    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+    public static double cameraBearingEqual = 0.5;      // Deadband
+
+    // TODO: tune these values for limelight
 
     public static double clampTolerance = 0.03;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Limelight3A webcam;
 
-    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
+    double tx = 0.0;
+    double ty = 0.0;
+    double limelightPosX = 0.0;
+    double limelightPosY = 0.0;
+    private boolean lockOffset = false;
+    private int obeliskID = 0;
+
+    private double offset = 0.0;
+    private double currentTrackOffset = 0.0;
+    private int currentTrackCount = 0;
+
+    private double permanentOffset = 0.0;
+
+    LLResult result;
+
+    private PIDController bearingPID;
+    public static double B_PID_P = 0.3, B_PID_I = 0.0, B_PID_D = 0.05;
+    boolean bearingAligned = false;
+
+    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;
         this.webcam = cam;
+        webcam.start();
+        if (redAlliance) {
+            webcam.pipelineSwitch(3);
+        } else {
+            webcam.pipelineSwitch(2);
         }
-
-    public double getTurrPos() {
-        return turrPosScalar * (robot.intake.getCurrentPosition()) + turrDefault;
-
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
     }
 
     public void zeroTurretEncoder() {
@@ -50,6 +75,11 @@ public class Turret {
         robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
     }
 
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
+
+    }
+
     public void manualSetTurret(double pos) {
         robot.turr1.setPosition(pos);
         robot.turr2.setPosition(1 - pos);
@@ -59,36 +89,58 @@ public class Turret {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
-    public double getBearing() {
+    private void limelightRead() { // only for tracking purposes, not general reads
         if (redAlliance) {
-            AprilTagDetection d24 = webcam.getTagById(24);
-            if (d24 != null) {
-                bearing = d24.ftcPose.bearing;
-                return bearing;
+            webcam.pipelineSwitch(4);
         } else {
-                return 1000.0;
+            webcam.pipelineSwitch(2);
         }
-        } else {
-            AprilTagDetection d20 = webcam.getTagById(20);
-            if (d20 != null) {
-                bearing = d20.ftcPose.bearing;
-                return bearing;
-            } else {
-                return 1000.0;
+
+        result = webcam.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                tx = result.getTx();
+                ty = result.getTy();
+                // MegaTag1 code for receiving position
+                Pose3D botpose = result.getBotpose();
+                if (botpose != null) {
+                    limelightPosX = botpose.getPosition().x;
+                    limelightPosY = botpose.getPosition().y;
+                }
+
             }
         }
     }
 
+    public double getBearing() {
+        tx = 1000;
+        limelightRead();
+        return tx;
+    }
+
+    public double getTy() {
+        limelightRead();
+        return ty;
+    }
+
+    public double getLimelightX() {
+        limelightRead();
+        return limelightPosX;
+    }
+
+    public double getLimelightY() {
+        limelightRead();
+        return limelightPosY;
+    }
+
     public int detectObelisk() {
-        AprilTagDetection id21 = webcam.getTagById(21);
-        AprilTagDetection id22 = webcam.getTagById(22);
-        AprilTagDetection id23 = webcam.getTagById(23);
-        if (id21 != null) {
-            obeliskID = 21;
-        } else if (id22 != null) {
-            obeliskID = 22;
-        } else if (id23 != null) {
-            obeliskID = 23;
+        webcam.pipelineSwitch(1);
+        LLResult result = webcam.getLatestResult();
+        if (result != null && result.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                obeliskID = fiducial.getFiducialId();
+            }
         }
         return obeliskID;
     }
@@ -108,6 +160,48 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
+
+
+    private double bearingAlign (LLResult llResult) {
+        double bearingOffset = 0.0;
+        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
+        final double MIN_OFFSET_POWER = 0.15;
+        final double TARGET_POSITION_TOLERANCE = 1.0;
+        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+        final double DRIVE_POWER_REDUCTION = 2.0;
+
+        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
+            bearingAligned = true;
+        } else {
+            bearingAligned = false;
+        }
+
+        // Only with valid data and if too far off target
+        if (llResult.isValid() && !bearingAligned)
+        {
+
+            // Adjust Robot Speed based on how far the target is located
+            // Only drive at half speed max
+            // switched to PID but original formula left for reference in comments
+            //drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
+            bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
+
+//            // Make sure we have enough power to actually drive the wheels
+//            if (abs(bearingOffset) < MIN_OFFSET_POWER) {
+//                if (bearingOffset > 0.0) {
+//                    bearingOffset = MIN_OFFSET_POWER;
+//                } else {
+//                    bearingOffset = -MIN_OFFSET_POWER;
+//                }
+//
+//            }
+        }
+
+        return bearingOffset;
+    }
+
+
     public void trackGoal(Pose2d deltaPos) {
 
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
@@ -122,7 +216,6 @@ public class Turret {
 
         // Turret angle needed relative to robot
         double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
-
         turretAngleDeg = -turretAngleDeg;
 
         // Normalize to [-180, 180]
@@ -130,43 +223,89 @@ public class Turret {
         while (turretAngleDeg < -180) turretAngleDeg += 360;
 
 
-        /* ---------------- APRILTAG CORRECTION ---------------- */
+        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
+        // Update local limelight results
+        //double tagBearingDeg = getBearing();  // + = target is to the left
+        //boolean hasValidTarget = (tagBearingDeg != 1000.0);
+
+        turretAngleDeg += permanentOffset;
+
+        limelightRead();
+        // Active correction if we see the target
+        if (result.isValid() && !lockOffset) {
+            currentTrackOffset += bearingAlign(result);
+            currentTrackCount++;
+//            double bearingError = Math.abs(tagBearingDeg);
 //
-        double tagBearingDeg = getBearing();  // + = target is to the left
-
-
-
-        turretAngleDeg += offset;
-
-        /* ---------------- ANGLE → SERVO ---------------- */
-
-        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
-
-        double currentEncoderPos = this.getTurrPos();
-
-        if (!turretEqual(turretPos)) {
-            double diff = turretPos - currentEncoderPos;
-            turretPos = turretPos + diff * mult;
-        }
-
-        if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) {
-            // Clamp to servo range
-            turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
+//            if (bearingError > cameraBearingEqual) {
+//                // Apply sqrt scaling to reduce aggressive corrections at large errors
+//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
+//
+//                // Calculate correction
+//                double offsetChange = visionCorrectionGain * filteredBearing;
+//
+//                // Limit rate of change to prevent jumps
+//                offsetChange = Math.max(-maxOffsetChangePerCycle,
+//                        Math.min(maxOffsetChangePerCycle, offsetChange));
+//
+//                // Accumulate the correction
+//                offset += offsetChange;
+//
+//                TELE.addData("Bearing Error", tagBearingDeg);
+//                TELE.addData("Offset Change", offsetChange);
+//                TELE.addData("Total Offset", offset);
+//            } else {
+//                // When centered, lock in the learned offset
+//                permanentOffset = offset;
+//                offset = 0.0;
+//            }
         } else {
-            if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) {
-                // Slowly learn turret offset (persistent calibration)
-                offset -= tagBearingDeg * errorLearningRate;
-            }
+            // only store perma update after 20+ successful tracks
+            // this did not work good in testing; only current works best so far.
+//            if (currentTrackCount > 20) {
+//                offset = currentTrackOffset;
+//            }
+            currentTrackOffset = 0.0;
+            currentTrackCount = 0;
         }
 
+        // Apply accumulated offset
+        turretAngleDeg += offset + currentTrackOffset;
+
+
+        /* ---------------- ANGLE → SERVO POSITION ---------------- */
+
+        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to physical servo limits
+        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
+
+        // Interpolate towards target position
+        double currentPos = getTurrPos();
+        double turretPos = targetTurretPos;
+
+        if (targetTurretPos == turrMin) {
+            turretPos = turrMin;
+        } else if (targetTurretPos == turrMax) {
+            turretPos = turrMax;
+        }
+
+        // Set servo positions
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1.0 - turretPos);
 
+
         /* ---------------- TELEMETRY ---------------- */
 
-        TELE.addData("Turret Angle", turretAngleDeg);
-        TELE.addData("Bearing", tagBearingDeg);
-        TELE.addData("Offset", offset);
+        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
+        TELE.addData("Target Pos", "%.3f", targetTurretPos);
+        TELE.addData("Current Pos", "%.3f", currentPos);
+        TELE.addData("Commanded Pos", "%.3f", turretPos);
+        TELE.addData("LL Valid", result.isValid());
+        TELE.addData("LL getTx", result.getTx());
+        TELE.addData("LL Offset", offset);
+        //TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+        TELE.addData("Learned Offset", "%.2f", offset);
     }
 
 }

build.gradle

@@ -25,5 +25,9 @@ allprojects {
 }
 
 repositories {
+    repositories {
         mavenCentral()
+        google()
+        maven { url 'https://maven.pedropathing.com' }
+    }
 }