for daniel

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java

@@ -208,7 +208,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
 
                 drive.updatePoseEstimate();
 
-                Poses_V2.teleStart = drive.localizer.getPose();
+                teleStart = drive.localizer.getPose();
 
                 robot.intake.setPower(-0.3);
 
@@ -272,7 +272,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
 
                 drive.updatePoseEstimate();
 
-                Poses_V2.teleStart = drive.localizer.getPose();
+                teleStart = drive.localizer.getPose();
 
                 robot.intake.setPower(-0.3);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java

@@ -56,6 +56,7 @@ import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
 import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
 import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
 import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
@@ -63,6 +64,7 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
 
 import androidx.annotation.NonNull;
 
@@ -94,31 +96,45 @@ import java.util.Objects;
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
-    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
+    public static double shoot0Vel = 2300, shoot0Hood = 0.93 + hoodOffset;
     public static double autoSpinStartPos = 0.2;
     public static double shoot0SpinSpeedIncrease = 0.015;
 
     public static double spindexerSpeedIncrease = 0.03;
+    public static double finalSpindexerSpeedIncrease = 0.025;
 
-    public static double obeliskTurrPos1 = 0.52;
+
-    public static double obeliskTurrPos2 = 0.53;
+    public static double redObeliskTurrPos1 = turrDefault + 0.12;
-    public static double obeliskTurrPos3 = 0.54;
+    public static double redObeliskTurrPos2 = turrDefault + 0.13;
-    public static double normalIntakeTime = 3.0;
+    public static double redObeliskTurrPos3 = turrDefault + 0.14;
+
+    public static double blueObeliskTurrPos1 = turrDefault - 0.12;
+    public static double blueObeliskTurrPos2 = turrDefault - 0.13;
+    public static double blueObeliskTurrPos3 = turrDefault - 0.14;
+    double obeliskTurrPos1 = 0.0;
+    double obeliskTurrPos2 = 0.0;
+    double obeliskTurrPos3 = 0.0;
+    public static double normalIntakeTime = 3.3;
     public static double shoot1Turr = 0.57;
     public static double shoot0XTolerance = 1.0;
-    public static double turretShootPos = 0.52;
+    public static double redTurretShootPos = turrDefault + 0.12;
+    public static double blueTurretShootPos = turrDefault - 0.14;
+    double turretShootPos = 0.0;
+
+    public static double finalShootAllTime = 3.0;
     public static double shootAllTime = 1.8;
     public static double shoot0Time = 1.6;
-    public static double intake1Time = 3.0;
+    public static double intake1Time = 3.3;
+    public static double intake2Time = 3.8;
+
+    public static double intake3Time = 4.2;
+
     public static double flywheel0Time = 3.5;
-    public static double pickup1Speed = 19;
+    public static double pickup1Speed = 23;
     // ---- SECOND SHOT / PICKUP ----
     public static double shoot1Vel = 2300;
-    public static double shoot1Hood = 0.93;
     public static double shootAllVelocity = 2500;
-    public static double shootAllHood = 0.78;
+    public static double shootAllHood = 0.78 + hoodOffset;
-    // ---- PICKUP TIMING ----
-    public static double pickup1Time = 3.0;
     // ---- PICKUP POSITION TOLERANCES ----
     public static double pickup1XTolerance = 2.0;
     public static double pickup1YTolerance = 2.0;
@@ -316,7 +332,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                 drive.updatePoseEstimate();
 
-                Poses_V2.teleStart = drive.localizer.getPose();
+                teleStart = drive.localizer.getPose();
 
                 robot.intake.setPower(-0.3);
 
@@ -380,7 +396,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                 drive.updatePoseEstimate();
 
-                Poses_V2.teleStart = drive.localizer.getPose();
+                teleStart = drive.localizer.getPose();
 
                 robot.intake.setPower(-0.3);
 
@@ -485,16 +501,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                 if (ticker == 0) {
                     stamp = System.currentTimeMillis();
+                    robot.limelight.pipelineSwitch(1);
                 }
 
                 ticker++;
-                robot.limelight.pipelineSwitch(1);
                 motif = turret.detectObelisk();
-                if (redAlliance){
-                    robot.limelight.pipelineSwitch(4);
-                } else {
-                    robot.limelight.pipelineSwitch(2);
-                }
 
                 robot.turr1.setPosition(turrPos);
                 robot.turr2.setPosition(1 - turrPos);
@@ -511,7 +522,16 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 TELE.addData("Hood", robot.hood.getPosition());
                 TELE.update();
 
-                return !shouldFinish;
+                if (shouldFinish){
+                    if (redAlliance){
+                        robot.limelight.pipelineSwitch(4);
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+                    }
+                    return false;
+                } else {
+                    return true;
+                }
 
             }
         };
@@ -733,7 +753,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
         turret = new Turret(robot, TELE, robot.limelight);
 
-        turret.manualSetTurret(0.4);
+        turret.manualSetTurret(turrDefault);
 
         drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
 
@@ -756,11 +776,33 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
         while (opModeInInit()) {
 
             robot.hood.setPosition(shoot0Hood);
+            turret.manualSetTurret(turrDefault);
 
             if (gamepad2.crossWasPressed()) {
                 redAlliance = !redAlliance;
             }
 
+            if (gamepad2.dpadLeftWasPressed()) {
+                turrDefault -=0.01;
+            }
+
+            if (gamepad2.dpadRightWasPressed()) {
+                turrDefault +=0.01;
+            }
+
+            redObeliskTurrPos1 = turrDefault + 0.12;
+            redObeliskTurrPos2 = turrDefault + 0.13;
+            redObeliskTurrPos3 = turrDefault + 0.14;
+
+            blueObeliskTurrPos1 = turrDefault - 0.12;
+            blueObeliskTurrPos2 = turrDefault - 0.13;
+            blueObeliskTurrPos3 = turrDefault - 0.14;
+
+            redTurretShootPos = turrDefault + 0.12;
+            blueTurretShootPos = turrDefault - 0.14;
+
+
+
             if (redAlliance) {
                 robot.light.setPosition(0.28);
 
@@ -795,6 +837,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 yShoot = rShootY;
                 hShoot = rShootH;
 
+                obeliskTurrPos1 = redObeliskTurrPos1;
+                obeliskTurrPos2 = redObeliskTurrPos2;
+                obeliskTurrPos3 = redObeliskTurrPos3;
+                turretShootPos = redTurretShootPos;
+
             } else {
                 robot.light.setPosition(0.6);
 
@@ -830,6 +877,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 yShoot = bShootY;
                 hShoot = bShootH;
 
+                obeliskTurrPos1 = blueObeliskTurrPos1;
+                obeliskTurrPos2 = blueObeliskTurrPos2;
+                obeliskTurrPos3 = blueObeliskTurrPos3;
+                turretShootPos = blueTurretShootPos;
+
             }
 
             shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
@@ -859,6 +911,10 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                     .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
 
             TELE.addData("Red?", redAlliance);
+            TELE.addData("Turret Default", turrDefault);
+
+
+
             TELE.update();
         }
 
@@ -898,7 +954,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                             manageFlywheel(
                                     shootAllVelocity,
                                     shootAllHood,
-                                    pickup1Time,
+                                    intake1Time,
                                     x2b,
                                     y2b,
                                     pickup1XTolerance,
@@ -958,15 +1014,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                     new ParallelAction(
                             pickup2.build(),
                             manageShooterAuto(
-                                    normalIntakeTime,
+                                    intake2Time,
                                     x2b,
                                     y2b,
                                     pickup1XTolerance,
                                     pickup1YTolerance
                             ),
-                            intake(normalIntakeTime),
+                            intake(intake2Time),
                             detectObelisk(
-                                    normalIntakeTime,
+                                    intake2Time,
                                     0.501,
                                     0.501,
                                     obelisk1XTolerance,
@@ -1009,15 +1065,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                     new ParallelAction(
                             pickup3.build(),
                             manageShooterAuto(
-                                    normalIntakeTime,
+                                    intake3Time,
                                     x2b,
                                     y2b,
                                     pickup1XTolerance,
                                     pickup1YTolerance
                             ),
-                            intake(normalIntakeTime),
+                            intake(intake3Time),
                             detectObelisk(
-                                    normalIntakeTime,
+                                    intake3Time,
                                     0.501,
                                     0.501,
                                     obelisk1XTolerance,
@@ -1045,13 +1101,13 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
             Actions.runBlocking(
                     new ParallelAction(
                             manageShooterAuto(
-                                    shootAllTime,
+                                    finalShootAllTime,
                                     0.501,
                                     0.501,
                                     0.501,
                                     0.501
                             ),
-                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                            shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
                     )
 
             );

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

@@ -1,804 +0,0 @@
-package org.firstinspires.ftc.teamcode.autonomous;
-
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bHGate;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShoot1Tangent;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootH;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bXGate;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bYGate;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by1;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rHGate;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShoot1Tangent;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootH;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rXGate;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rYGate;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2c;
-import static org.firstinspires.ftc.teamcode.constants.Poses_V2.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ParallelAction;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TranslationalVelConstraint;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.Servo;
-
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-import org.firstinspires.ftc.teamcode.utils.Spindexer;
-import org.firstinspires.ftc.teamcode.utils.Targeting;
-import org.firstinspires.ftc.teamcode.utils.Turret;
-
-@Autonomous(preselectTeleOp = "TeleopV3")
-@Config
-public class Auto_LT_Close_GateCycle extends LinearOpMode {
-
-    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
-    public static double autoSpinStartPos = 0.2;
-    public static double shoot0SpinSpeedIncrease = 0.014;
-
-    public static double spindexerSpeedIncrease = 0.02;
-
-    public static double obeliskTurrPos = 0.53;
-    public static double gatePickupTime = 3.0;
-    public static double shoot1Turr = 0.57;
-    public static double shoot0XTolerance = 1.0;
-    public static double turretShootPos = 0.72;
-    public static double shootAllTime = 1.8;
-    public static double shoot0Time = 1.6;
-    public static double intake1Time = 3.0;
-    public static double flywheel0Time = 3.5;
-    public static double pickup1Speed = 80.0;
-    // ---- SECOND SHOT / PICKUP ----
-    public static double shoot1Vel = 2300;
-    public static double shoot1Hood = 0.93;
-    
-    public static double shootAllVelocity = 2500;
-    public static double shootAllHood = 0.78;
-    // ---- PICKUP TIMING ----
-    public static double pickup1Time = 3.0;
-    // ---- PICKUP POSITION TOLERANCES ----
-    public static double pickup1XTolerance = 2.0;
-    public static double pickup1YTolerance = 2.0;
-    // ---- OBELISK DETECTION ----
-    public static double obelisk1Time = 1.5;
-    public static double obelisk1XTolerance = 2.0;
-    public static double obelisk1YTolerance = 2.0;
-    public static double shoot1ToleranceX = 2.0;
-    public static double shoot1ToleranceY = 2.0;
-    public static double shoot1Time = 2.0;
-    public static double shootCycleTime = 2.5;
-    public int motif = 0;
-    Robot robot;
-    MultipleTelemetry TELE;
-    MecanumDrive drive;
-    Servos servos;
-    Spindexer spindexer;
-    Flywheel flywheel;
-    Turret turret;
-    Targeting targeting;
-    Targeting.Settings targetingSettings;
-    private double x1, y1, h1;
-
-    private double x2a, y2a, h2a, t2a;
-
-    private double x2b, y2b, h2b, t2b;
-    private double x2c, y2c, h2c, t2c;
-
-    private double xShoot, yShoot, hShoot;
-    private double xGate, yGate, hGate;
-
-    private double shoot1Tangent;
-
-    public Action prepareShootAll(double time) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                robot.spin1.setPosition(autoSpinStartPos);
-                robot.spin2.setPosition(1 - autoSpinStartPos);
-
-                robot.transferServo.setPosition(transferServo_out);
-
-                turret.manualSetTurret(turretShootPos);
-
-                robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
-
-                return (System.currentTimeMillis() - stamp) < (time * 1000);
-
-            }
-        };
-    }
-
-    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
-        return new Action() {
-            int ticker = 1;
-
-            double stamp = 0.0;
-
-            double velo = vel;
-
-            int shooterTicker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", velo);
-                TELE.addLine("shooting");
-                TELE.update();
-
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                robot.intake.setPower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                robot.intake.setPower(0);
-
-                if (getRuntime() - stamp < shootTime) {
-
-                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
-                        robot.spin1.setPosition(autoSpinStartPos);
-                        robot.spin2.setPosition(1 - autoSpinStartPos);
-                    } else {
-                        robot.transferServo.setPosition(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = robot.spin1.getPosition();
-                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
-                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
-                    }
-
-                    return true;
-
-                } else {
-                    robot.transferServo.setPosition(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
-
-                    return false;
-
-                }
-
-            }
-        };
-    }
-
-    public Action shootAllAuto(double shootTime, double spindexSpeed) {
-        return new Action() {
-            int ticker = 1;
-
-            double stamp = 0.0;
-
-            double velo = 0.0;
-
-            int shooterTicker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", velo);
-                TELE.addLine("shooting");
-                TELE.update();
-
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                robot.intake.setPower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                robot.intake.setPower(0);
-
-                if (getRuntime() - stamp < shootTime) {
-
-                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
-                        robot.spin1.setPosition(autoSpinStartPos);
-                        robot.spin2.setPosition(1 - autoSpinStartPos);
-                    } else {
-                        robot.transferServo.setPosition(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = robot.spin1.getPosition();
-                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
-                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
-                    }
-
-                    return true;
-
-                } else {
-                    robot.transferServo.setPosition(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
-
-                    return false;
-
-                }
-
-            }
-        };
-    }
-
-    public Action intake(double intakeTime) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                spindexer.processIntake();
-                robot.intake.setPower(1);
-
-                motif = turret.detectObelisk();
-                
-                spindexer.ballCounterLight();
-
-                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
-
-            }
-        };
-    }
-
-    public Action detectObelisk(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance,
-            double turrPos
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                motif = turret.detectObelisk();
-
-                robot.turr1.setPosition(turrPos);
-                robot.turr2.setPosition(1 - turrPos);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageFlywheel(
-            double vel,
-            double hoodPos,
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                flywheel.manageFlywheel(vel);
-                robot.hood.setPosition(hoodPos);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageShooterAuto(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
-
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robotX - goalX;  // delta x from robot to goal
-                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-                turret.trackGoal(deltaPose);
-
-                robot.hood.setPosition(targetingSettings.hoodAngle);
-
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageFlywheelAuto(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
-
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robotX - goalX;  // delta x from robot to goal
-                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-
-                robot.hood.setPosition(targetingSettings.hoodAngle);
-
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        hardwareMap.get(Servo.class, "light").setPosition(0);
-
-        robot = new Robot(hardwareMap);
-
-        TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        flywheel = new Flywheel(hardwareMap);
-
-        targeting = new Targeting();
-        targetingSettings = new Targeting.Settings(0.0, 0.0);
-
-        spindexer = new Spindexer(hardwareMap);
-
-        servos = new Servos(hardwareMap);
-
-        robot.limelight.pipelineSwitch(1);
-
-        turret = new Turret(robot, TELE, robot.limelight);
-
-        turret.manualSetTurret(0.4);
-
-        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-        TrajectoryActionBuilder shoot0 = null;
-        TrajectoryActionBuilder pickup1 = null;
-        TrajectoryActionBuilder shoot1 = null;
-        TrajectoryActionBuilder gatePickup = null;
-        TrajectoryActionBuilder shootCycle = null;
-
-        robot.spin1.setPosition(autoSpinStartPos);
-        robot.spin2.setPosition(1 - autoSpinStartPos);
-
-        robot.transferServo.setPosition(transferServo_out);
-
-        robot.light.setPosition(1);
-
-        while (opModeInInit()) {
-
-            robot.hood.setPosition(shoot0Hood);
-
-            if (gamepad2.crossWasPressed()) {
-                redAlliance = !redAlliance;
-            }
-
-            if (redAlliance) {
-                robot.light.setPosition(0.28);
-
-                // ---- FIRST SHOT ----
-                x1 = rx1;
-                y1 = ry1;
-                h1 = rh1;
-
-                // ---- PICKUP PATH ----
-                x2a = rx2a;
-                y2a = ry2a;
-                h2a = rh2a;
-                t2a = rt2a;
-                x2b = rx2b;
-                y2b = ry2b;
-                h2b = rh2b;
-                t2b = rt2b;
-                x2c = rx2c;
-                y2c = ry2c;
-                h2c = rh2c;
-                t2c = rt2c;
-
-                xShoot = rShootX;
-                yShoot = rShootY;
-                hShoot = rShootH;
-                shoot1Tangent = rShoot1Tangent;
-                
-                xGate = rXGate;
-                yGate = rYGate;
-                hGate = rHGate;
-                
-
-            } else {
-                robot.light.setPosition(0.6);
-
-                // ---- FIRST SHOT ----
-                x1 = bx1;
-                y1 = by1;
-                h1 = bh1;
-
-                // ---- PICKUP PATH ----
-                x2a = bx2a;
-                y2a = by2a;
-                h2a = bh2a;
-                t2a = bt2a;
-                x2b = bx2b;
-                y2b = by2b;
-                h2b = bh2b;
-                t2b = bt2b;
-                x2c = bx2c;
-                y2c = by2c;
-                h2c = bh2c;
-                t2c = bt2c;
-
-                xShoot = bShootX;
-                yShoot = bShootY;
-                hShoot = bShootH;
-
-                shoot1Tangent = bShoot1Tangent;
-
-                xGate = bXGate;
-                yGate = bYGate;
-                hGate = bHGate;
-            }
-
-            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);
-
-            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
-                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
-                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
-                            new TranslationalVelConstraint(pickup1Speed));
-            shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
-                    .setReversed(true)
-                    .splineTo(new Vector2d(x2a, y2a), shoot1Tangent)
-                    .splineToSplineHeading(new Pose2d(xShoot, yShoot, hShoot), shoot1Tangent);
-            
-            gatePickup = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
-                    .strafeToLinearHeading(new Vector2d(xGate, yGate), hGate);
-
-            shootCycle = drive.actionBuilder(new Pose2d(xGate, yGate, hGate))
-                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
-
-        }
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        if (opModeIsActive()) {
-
-            robot.transfer.setPower(1);
-
-            assert shoot0 != null;
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot0.build(),
-                            manageFlywheel(
-                                    shoot0Vel,
-                                    shoot0Hood,
-                                    flywheel0Time,
-                                    x1,
-                                    0.501,
-                                    shoot0XTolerance,
-                                    0.501
-                            )
-
-                    )
-            );
-
-            Actions.runBlocking(
-                    shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup1.build(),
-                            manageFlywheel(
-                                    shootAllVelocity, 
-                                    shootAllHood,
-                                    pickup1Time,
-                                    x2b,
-                                    y2b,
-                                    pickup1XTolerance,
-                                    pickup1YTolerance
-                            ),
-                            intake(intake1Time),
-                            detectObelisk(
-                                    obelisk1Time,
-                                    x2b,
-                                    y2c,
-                                    obelisk1XTolerance,
-                                    obelisk1YTolerance,
-                                    obeliskTurrPos
-                            )
-                    )
-            );
-
-            motif = turret.detectObelisk();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageFlywheel(
-                                    shootAllVelocity, 
-                                    shootAllHood,
-                                    shoot1Time,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shoot1.build(),
-                            prepareShootAll(shoot1Time)
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageShooterAuto(
-                                    shootAllTime,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                    )
-
-            );
-
-            while (opModeIsActive()) {
-
-                Actions.runBlocking(
-                        new ParallelAction(
-                                gatePickup.build(),
-                                manageShooterAuto(
-                                        gatePickupTime,
-                                        x2b,
-                                        y2b,
-                                        pickup1XTolerance,
-                                        pickup1YTolerance
-                                ),
-                                intake(gatePickupTime)
-
-                        )
-                );
-
-                Actions.runBlocking(
-                        new ParallelAction(
-                                manageFlywheelAuto(
-                                        shootCycleTime,
-                                        0.501,
-                                        0.501,
-                                        0.501,
-                                        0.501
-                                ),
-                                shootCycle.build(),
-                                prepareShootAll(shootCycleTime)
-                        )
-                );
-
-                Actions.runBlocking(
-                        new ParallelAction(
-                                manageShooterAuto(
-                                        shootAllTime,
-                                        0.501,
-                                        0.501,
-                                        0.501,
-                                        0.501
-                                ),
-                                shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                        )
-
-                );
-
-            }
-
-
-        }
-
-    }
-}

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

@@ -16,33 +16,38 @@ public class Poses {
 
     public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
     public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
-    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140.1);
+    public static double rx2b = 19, ry2b = 40, rh2b = Math.toRadians(140.1);
 
     public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
 
     public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
-    public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
 
-    public static double rx4a = 72, ry4a = 50, rh4a = Math.toRadians(145);
+    public static double rx3aG = 60, ry3aG = 34, rh3aG = Math.toRadians(140);
-    public static double rx4b = 42, ry4b = 80, rh4b = Math.toRadians(145.1);
 
-    public static double bx1 = 40, by1 = 7, bh1 = 0;
+    public static double rx3b = 36, ry3b = 58, rh3b = Math.toRadians(140.1);
-    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
+
-    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
+    public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
+    public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
+
+    public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
+    public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
+    public static double bx2b = 19, by2b = -40, bh2b = Math.toRadians(-140.1);
     public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
 
-    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
+    public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
-    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
+    public static double bx3b = 41, by3b = -59, bh3b = Math.toRadians(-140.1);
+    public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140);
 
-    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
+
-    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
+    public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
+    public static double bx4b = 47, by4b = -85, bh4b = Math.toRadians(-140.1);
     public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
 
     public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
     public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
 
-    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
+    public static double bShootX = 40, bShootY = 7, bShootH = Math.toRadians(-50);
-    public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140);
+    public static double bxPrep = 45, byPrep = -10, bhPrep = Math.toRadians(-50);
 
 
     public static Pose2d teleStart = new Pose2d(0, 0, 0);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java

@@ -10,47 +10,16 @@ public class Poses_V2 {
 
     public static double turretHeight = 12;
 
-    public static double relativeGoalHeight = goalHeight - turretHeight;
+    public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
 
-    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
+    public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
 
-    public static double rx1 = 20, ry1 = 0, rh1 = 0;
+    public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
-    public static double rx2a = 55, ry2a = 39, rh2a = Math.toRadians(140), rt2a  = Math.toRadians(Math.PI/2);
-    public static double rx2b = 33, ry2b = 61, rh2b = Math.toRadians(140), rt2b  = Math.toRadians(Math.PI/2);
 
-    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140), rt2c  = Math.toRadians(Math.PI/2);
+    public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
+    public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
 
-    public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
+    public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
 
-    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
-    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
-
-    public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
-    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
-
-    public static double bx1 = 20, by1 = 0, bh1 = 0;
-    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140), bt2a  = Math.toRadians(140);
-    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140), bt2b  = Math.toRadians(140);
-    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140), bt2c  = Math.toRadians(140);
-
-    public static double rShootX = 40, rShootY = 7, rShootH = Math.toRadians(140);
-
-    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
-    public static double bXGate = 25, bYGate = 69, bHGate = Math.toRadians(165);
-
-
-    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
-    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
-
-    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
-    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
-    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
-
-    public static double rShoot1Tangent = Math.toRadians(0);
-    public static double bShoot1Tangent = Math.toRadians(0);
-
-
-
-    public static Pose2d teleStart = new Pose2d(0, 0, 0);
 
 }

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

@@ -5,22 +5,22 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.05; //0.13;
+    public static double spindexer_intakePos1 = 0.07; //0.13;
 
-    public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
+    public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
 
     public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
     public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
 
     public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
     public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
-    public static double spinStartPos = 0.25;
+    public static double spinStartPos = 0.22;
     public static double spinEndPos = 0.85;
 
     public static double shootAllAutoSpinStartPos = 0.2;
-    public static double shootAllSpindexerSpeedIncrease = 0.04;
+    public static double shootAllSpindexerSpeedIncrease = 0.014;
     public static double shootAllTime = 1.8;
 
     public static double transferServo_out = 0.15;
@@ -33,24 +33,11 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.27;
 
-    public static double hoodAutoFar = 0.5; //TODO: change this;
+public static double hoodOffset = -0.05;
-
-    public static double hoodHigh = 0.21; //TODO: change this;
-
-    public static double hoodLow = 1.0; //TODO: change this;
 
     public static double turret_redClose = 0.42;
     public static double turret_blueClose = 0.38;
-    public static double turret_redFar = 0.5; //TODO: change this
-    public static double turret_blueFar = 0.5; // TODO: change this
 
-    public static double turret_detectRedClose = 0.2;
-
-    public static double turret_detectBlueClose = 0.6;
-    public static double turrDefault = 0.4;
-
-    public static double turrMin = 0.2;
-    public static double turrMax = 0.8;
 
 
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java

@@ -1,898 +0,0 @@
-package org.firstinspires.ftc.teamcode.teleop;
-
-import static org.firstinspires.ftc.teamcode.constants.Poses.*;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
-import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-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;
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
-
-import java.util.ArrayList;
-import java.util.List;
-
-@Disabled
-@TeleOp
-@Config
-public class TeleopV2 extends LinearOpMode {
-    Servos servo;
-    Flywheel flywheel;
-    public static double manualVel = 3000;
-    public static double hood = 0.5;
-    public static double hoodDefaultPos = 0.5;
-    public static double desiredTurretAngle = 180;
-    public static double velMultiplier = 20;
-    public static double shootStamp2 = 0.0;
-
-    public double vel = 3000;
-    public boolean autoVel = true;
-    public double manualOffset = 0.0;
-    public boolean autoHood = true;
-    public boolean green1 = false;
-    public boolean green2 = false;
-    public boolean green3 = false;
-    public double shootStamp = 0.0;
-    public boolean circle = false;
-    public boolean square = false;
-    public boolean triangle = false;
-    double autoHoodOffset = 0.0;
-    Robot robot;
-    MultipleTelemetry TELE;
-    boolean intake = false;
-    boolean reject = false;
-    double xOffset = 0.0;
-    double yOffset = 0.0;
-    double headingOffset = 0.0;
-    int ticker = 0;
-    int camTicker = 0;
-    List<Double> s1G = new ArrayList<>();
-    List<Double> s2G = new ArrayList<>();
-    List<Double> s3G = new ArrayList<>();
-    List<Double> s1T = new ArrayList<>();
-    List<Double> s2T = new ArrayList<>();
-    List<Double> s3T = new ArrayList<>();
-    List<Boolean> s1 = new ArrayList<>();
-    List<Boolean> s2 = new ArrayList<>();
-    List<Boolean> s3 = new ArrayList<>();
-    boolean oddBallColor = false;
-    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
-    MecanumDrive drive;
-    double hoodOffset = 0.0;
-    boolean shoot1 = false;
-    // Make these class-level flags
-    boolean shootA = true;
-    boolean shootB = true;
-    boolean shootC = true;
-    boolean manualTurret = false;
-
-    boolean outtake1 = false;
-    boolean outtake2 = false;
-    boolean outtake3 = false;
-    boolean overrideTurr = false;
-
-    List<Integer> shootOrder = new ArrayList<>();
-    boolean emergency = false;
-    private double lastEncoderRevolutions = 0.0;
-    private double lastTimeStamp = 0.0;
-    private double velo1, velo;
-    private double stamp1, stamp, initPos;
-    private boolean shootAll = false;
-    private double transferStamp = 0.0;
-    private int tickerA = 1;
-    private boolean transferIn = false;
-    double turretPID = 0.0;
-    double turretPos = 0.5;
-    double spindexPID = 0.0;
-    double spindexPos = spindexer_intakePos1;
-    double error = 0.0;
-
-    public static double velPrediction(double distance) {
-
-        if (distance < 30) {
-            return 2750;
-        } else if (distance > 100) {
-            if (distance > 160) {
-                return 4200;
-            }
-            return 3700;
-        } else {
-            // linear interpolation between 40->2650 and 120->3600
-            double slope = (3700.0 - 2750.0) / (100.0 - 30);
-            return (int) Math.round(2750 + slope * (distance - 30));
-        }
-
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
-
-        for (LynxModule hub : allHubs) {
-            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
-        }
-
-        robot = new Robot(hardwareMap);
-        TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-        servo = new Servos(hardwareMap);
-        flywheel = new Flywheel(hardwareMap);
-
-        drive = new MecanumDrive(hardwareMap, teleStart);
-
-        Pose2d shootPos = teleStart;
-
-        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
-
-        waitForStart();
-        if (isStopRequested()) return;
-        while (opModeIsActive()) {
-
-            //DRIVETRAIN:
-
-            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
-            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
-            double rx = gamepad1.left_stick_x;
-
-            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
-            double frontLeftPower = (y + x + rx) / denominator;
-            double backLeftPower = (y - x + rx) / denominator;
-            double frontRightPower = (y - x - rx) / denominator;
-            double backRightPower = (y + x - rx) / denominator;
-
-            robot.frontLeft.setPower(frontLeftPower);
-            robot.backLeft.setPower(backLeftPower);
-            robot.frontRight.setPower(frontRightPower);
-            robot.backRight.setPower(backRightPower);
-
-
-            //TODO: make sure changing position works throughout opmode
-            if (!servo.spinEqual(spindexPos)){
-                spindexPID = servo.setSpinPos(spindexPos);
-                robot.spin1.setPosition(spindexPID);
-                robot.spin2.setPosition(-spindexPID);
-            } else{
-                robot.spin1.setPosition(0);
-                robot.spin2.setPosition(0);
-            }
-
-            //INTAKE:
-
-            if (gamepad1.rightBumperWasPressed()) {
-                intake = !intake;
-                reject = false;
-                shootAll = false;
-                emergency = false;
-                overrideTurr = false;
-
-            }
-
-            if (gamepad1.leftBumperWasPressed()) {
-                intake = false;
-                emergency = !emergency;
-
-            }
-
-            if (intake) {
-
-                robot.transferServo.setPosition(transferServo_out);
-
-                robot.intake.setPower(1);
-
-                if ((getRuntime() % 0.3) > 0.15) {
-                    spindexPos = spindexer_intakePos1 + 0.015;
-                } else {
-                    spindexPos = spindexer_intakePos1 - 0.015;
-                }
-
-            } else if (reject) {
-                robot.intake.setPower(-1);
-                spindexPos = spindexer_intakePos1;
-            } else {
-                robot.intake.setPower(0);
-            }
-
-            //COLOR:
-
-            double s1D = robot.color1.getDistance(DistanceUnit.MM);
-            double s2D = robot.color2.getDistance(DistanceUnit.MM);
-            double s3D = robot.color3.getDistance(DistanceUnit.MM);
-
-            if (s1D < 40) {
-
-                double green = robot.color1.getNormalizedColors().green;
-                double red = robot.color1.getNormalizedColors().red;
-                double blue = robot.color1.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                s1G.add(gP);
-
-                if (gP >= 0.43) {
-                    s1.add(true);
-                } else {
-                    s1.add(false);
-                }
-
-                s1T.add(getRuntime());
-
-            }
-
-            if (s2D < 40) {
-
-                double green = robot.color2.getNormalizedColors().green;
-                double red = robot.color2.getNormalizedColors().red;
-                double blue = robot.color2.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                s2G.add(gP);
-
-                if (gP >= 0.43) {
-                    s2.add(true);
-                } else {
-                    s2.add(false);
-                }
-
-                s2T.add(getRuntime());
-            }
-
-            if (s3D < 30) {
-
-                double green = robot.color3.getNormalizedColors().green;
-                double red = robot.color3.getNormalizedColors().red;
-                double blue = robot.color3.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                s3G.add(gP);
-
-                if (gP >= 0.43) {
-                    s3.add(true);
-                } else {
-                    s3.add(false);
-                }
-
-                s3T.add(getRuntime());
-            }
-
-            if (!s1.isEmpty()) {
-                green1 = checkGreen(s1, s1T);
-            }
-            if (!s2.isEmpty()) {
-                green2 = checkGreen(s2, s2T);
-
-            }
-            if (!s3.isEmpty()) {
-                green3 = checkGreen(s3, s3T);
-            }
-
-            //SHOOTER:
-
-            double powPID = flywheel.manageFlywheel((int) vel);
-
-             robot.transfer.setPower(1);
-
-            //TURRET:
-
-            double offset;
-
-            double robX = drive.localizer.getPose().position.x;
-            double robY = drive.localizer.getPose().position.y;
-
-            double robotX = robX - xOffset;
-            double robotY = robY - yOffset;
-            double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-            double goalX = -10;
-            double goalY = 0;
-
-            double dx = goalX - robotX;  // delta x from robot to goal
-            double dy = goalY - robotY;  // delta y from robot to goal
-
-            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
-
-            desiredTurretAngle += manualOffset;
-
-            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
-
-            if (offset > 135) {
-                offset -= 360;
-            }
-
-            //TODO: test the camera teleop code
-            double pos = turrDefault + (error/8); // adds the overall error to the default
-
-            TELE.addData("offset", offset);
-
-            pos -= offset * (0.9 / 360);
-
-            if (pos < 0.02) {
-                pos = 0.02;
-            } else if (pos > 0.97) {
-                pos = 0.97;
-            }
-
-            if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
-                AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
-                AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
-
-                double bearing = 0.0;
-                if (d20 != null || d24 != null){
-                    if (d20 != null) {
-                        bearing = d20.ftcPose.bearing;
-                    }
-                    if (d24 != null) {
-                        bearing = d24.ftcPose.bearing;
-                    }
-                    overrideTurr = true;
-                    turretPos = servo.getTurrPos() - (bearing/1300);
-                    TELE.addData("Bear", bearing);
-
-                    double bearingCorrection = bearing / 1300;
-
-
-                    // deadband: ignore tiny noise
-                    if (Math.abs(bearing) > 0.3 && camTicker < 8) {
-
-                        // only accumulate if bearing direction is consistent
-                        if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
-                            error += bearingCorrection;
-                        }
-                    }
-
-                    camTicker++;
-
-                }
-
-
-            } else {
-                camTicker = 0;
-                overrideTurr = false;
-
-            }
-
-            if (manualTurret) {
-                pos = turrDefault + (manualOffset / 100);
-            }
-
-            if (!overrideTurr) {
-                turretPos = pos;
-            }
-
-            if (gamepad2.dpad_right) {
-                manualOffset -= 2;
-            } else if (gamepad2.dpad_left) {
-                manualOffset += 2;
-            }
-
-            //VELOCITY AUTOMATIC
-
-            if (autoVel) {
-                vel = velPrediction(distanceToGoal);
-            } else {
-                vel = manualVel;
-            }
-
-            if (gamepad2.right_stick_button) {
-                autoVel = true;
-            } else if (gamepad2.right_stick_y < -0.5) {
-                autoVel = false;
-                manualVel = 4100;
-            } else if (gamepad2.right_stick_y > 0.5) {
-                autoVel = false;
-                manualVel = 2700;
-            } else if (gamepad2.right_stick_x > 0.5) {
-                autoVel = false;
-                manualVel = 3600;
-            } else if (gamepad2.right_stick_x < -0.5) {
-                autoVel = false;
-                manualVel = 3100;
-            }
-
-            //HOOD:
-
-            if (autoHood) {
-                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
-            } else {
-                robot.hood.setPosition(hoodDefaultPos + hoodOffset);
-            }
-
-            if (gamepad2.dpadUpWasPressed()) {
-                hoodOffset -= 0.03;
-                autoHoodOffset -= 0.02;
-
-            } else if (gamepad2.dpadDownWasPressed()) {
-                hoodOffset += 0.03;
-                autoHoodOffset += 0.02;
-
-            }
-
-            if (gamepad2.left_stick_x > 0.5) {
-                manualTurret = false;
-            } else if (gamepad2.left_stick_x < -0.5) {
-                manualOffset = 0;
-                manualTurret = false;
-                if (gamepad2.left_bumper) {
-                    drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
-                    sleep(1200);
-                }
-            }
-
-            if (gamepad2.left_stick_y < -0.5) {
-                autoHood = true;
-            } else if (gamepad2.left_stick_y > 0.5) {
-                autoHood = false;
-                hoodOffset = 0;
-                if (gamepad2.left_bumper) {
-                    xOffset = robotX;
-                    yOffset = robotY;
-                    headingOffset = robotHeading;
-                }
-            }
-
-            //SHOOT ALL:]
-
-            if (emergency) {
-                intake = false;
-                reject = true;
-
-                if (getRuntime() % 3 > 1.5) {
-                    spindexPos = 1;
-                } else {
-                    spindexPos = 0;
-                }
-
-                robot.transferServo.setPosition(transferServo_out);
-
-                robot.transfer.setPower(1);
-
-            } else if (shootAll) {
-
-                TELE.addData("100% works", shootOrder);
-
-                intake = false;
-                reject = false;
-
-                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
-                    int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
-                    boolean shootingDone = false;
-
-                    if (!outtake1) {
-                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
-                    }
-                    if (!outtake2) {
-                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
-                    }
-                    if (!outtake3) {
-                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
-                    }
-
-                    switch (currentSlot) {
-                        case 1:
-                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
-                            TELE.addData("shootA", shootA);
-
-                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
-                                shootingDone = !shootA;
-                            } else {
-                                shootingDone = true;
-                            }
-                            break;
-                        case 2:
-                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
-                            TELE.addData("shootB", shootB);
-                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
-                                shootingDone = !shootB;
-                            } else {
-                                shootingDone = true;
-                            }
-                            break;
-                        case 3:
-                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
-                            TELE.addData("shootC", shootC);
-                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
-                                shootingDone = !shootC;
-                            } else {
-                                shootingDone = true;
-                            }
-                            break;
-                    }
-
-                    // Remove from the list only if shooting is complete
-                    if (shootingDone) {
-                        shootOrder.remove(0);
-                        shootStamp2 = getRuntime();
-
-                    }
-
-                } else {
-                    // Finished shooting all balls
-                    spindexPos = spindexer_intakePos1;
-                    shootA = true;
-                    shootB = true;
-                    shootC = true;
-                    reject = false;
-                    intake = true;
-                    shootAll = false;
-                    outtake1 = false;
-                    outtake2 = false;
-                    outtake3 = false;
-
-                    overrideTurr = false;
-
-                }
-
-            }
-
-            if (gamepad2.squareWasPressed()) {
-                square = true;
-                shootStamp = getRuntime();
-                shootStamp2 = getRuntime();
-                outtake1 = false;
-                outtake2 = false;
-                outtake3 = false;
-            }
-
-            if (gamepad2.circleWasPressed()) {
-                circle = true;
-                shootStamp = getRuntime();
-                shootStamp2 = getRuntime();
-
-                outtake1 = false;
-                outtake2 = false;
-                outtake3 = false;
-
-            }
-
-            if (gamepad2.triangleWasPressed()) {
-                triangle = true;
-                shootStamp = getRuntime();
-                shootStamp2 = getRuntime();
-
-                outtake1 = false;
-                outtake2 = false;
-                outtake3 = false;
-
-            }
-
-            if (square || circle || triangle) {
-
-                // Count green balls
-                int greenCount = 0;
-                if (green1) greenCount++;
-                if (green2) greenCount++;
-                if (green3) greenCount++;
-
-                // Determine the odd ball color
-                oddBallColor = greenCount < 2; // true = green, false = purple
-
-                shootOrder.clear();
-
-                // Determine shooting order based on button pressed
-                // square = odd ball first, triangle = odd ball second, circle = odd ball third
-                if (square) {
-                    // Odd ball first
-                    addOddThenRest(shootOrder, oddBallColor);
-
-                } else if (triangle) {
-                    // Odd ball second
-                    addOddInMiddle(shootOrder, oddBallColor);
-                } else if (circle) {
-                    // Odd ball last
-                    addOddLast(shootOrder, oddBallColor);
-                }
-
-                circle = false;
-                square = false;
-                triangle = false;
-
-            }
-
-            // Right bumper shoots all balls fastest, ignoring colors
-            if (gamepad2.rightBumperWasPressed()) {
-                shootOrder.clear();
-                shootStamp = getRuntime();
-
-                outtake1 = false;
-                outtake2 = false;
-                outtake3 = false;
-
-                // Fastest order (example: slot 3 → 2 → 1)
-
-                if (ballIn(3)) {
-                    shootOrder.add(3);
-
-                }
-
-                if (ballIn(2)) {
-                    shootOrder.add(2);
-
-                }
-
-                if (ballIn(1)) {
-                    shootOrder.add(1);
-
-                }
-
-                if (!shootOrder.contains(3)) {
-
-                    shootOrder.add(3);
-                }
-
-                if (!shootOrder.contains(2)) {
-
-                    shootOrder.add(2);
-                }
-
-                if (!shootOrder.contains(1)) {
-
-                    shootOrder.add(1);
-                }
-
-                shootAll = true;
-                shootPos = drive.localizer.getPose();
-
-            }
-
-//            // Right bumper shoots all balls fastest, ignoring colors
-//            if (gamepad2.leftBumperWasPressed()) {
-//                shootOrder.clear();
-//                shootStamp = getRuntime();
-//
-//                outtake1 = false;
-//                outtake2 = false;
-//                outtake3 = false;
-//
-//                // Fastest order (example: slot 3 → 2 → 1)
-//
-//                if (ballIn(3)) {
-//                    shootOrder.add(3);
-//                }
-//
-//                if (ballIn(2)) {
-//                    shootOrder.add(2);
-//                }
-//                if (ballIn(1)) {
-//                    shootOrder.add(1);
-//                }
-//                shootAll = true;
-//                shootPos = drive.localizer.getPose();
-//
-//            }
-//
-            if (gamepad2.crossWasPressed()) {
-                emergency = true;
-
-            }
-
-            if (gamepad2.leftBumperWasPressed()) {
-                emergency = false;
-            }
-
-            //MISC:
-
-            drive.updatePoseEstimate();
-
-            for (LynxModule hub : allHubs) {
-                hub.clearBulkCache();
-            }
-
-            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
-            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
-            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
-
-            TELE.addData("pose", drive.localizer.getPose());
-            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
-            TELE.addData("distanceToGoal", distanceToGoal);
-            TELE.addData("hood", robot.hood.getPosition());
-            TELE.addData("targetVel", vel);
-
-            TELE.addData("shootOrder", shootOrder);
-            TELE.addData("oddColor", oddBallColor);
-
-            aprilTagWebcam.update();
-
-            TELE.update();
-
-            ticker++;
-
-        }
-    }
-
-    // Helper method
-    private boolean checkGreen(List<Boolean> s, List<Double> sT) {
-        if (s.isEmpty()) return false;
-
-        double lastTime = sT.get(sT.size() - 1);
-        int countTrue = 0;
-        int countWindow = 0;
-
-        for (int i = 0; i < s.size(); i++) {
-            if (lastTime - sT.get(i) <= 3.0) {  // element is within 2s of last
-                countWindow++;
-                if (s.get(i)) {
-                    countTrue++;
-                }
-            }
-        }
-
-        if (countWindow == 0) return false; // avoid divide by zero
-        return countTrue > countWindow / 2.0; // more than 50% true
-    }
-
-    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
-        // Set spin positions
-        spindexPos = spindexer;
-
-        // Check if spindexer has reached the target position
-        if (spinOk || getRuntime() - stamp > 1.5) {
-            if (tickerA == 1) {
-                transferStamp = getRuntime();
-                tickerA++;
-                TELE.addLine("tickerSet");
-            }
-
-            if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
-                robot.transferServo.setPosition(transferServo_in);
-                transferIn = true;
-                TELE.addLine("transferring");
-
-                return true; // still in progress
-
-            } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
-                robot.transferServo.setPosition(transferServo_out);
-                transferIn = false; // reset for next shot
-                tickerA = 1;        // reset ticker
-                transferStamp = 0.0;
-
-                TELE.addLine("shotFinished");
-
-                return false;       // finished shooting
-            } else {
-                TELE.addLine("sIP");
-                return true; // still in progress
-            }
-        } else {
-            robot.transferServo.setPosition(transferServo_out);
-            tickerA = 1;
-            transferStamp = getRuntime();
-            transferIn = false;
-            return true; // still moving spin
-        }
-    }
-
-    public double hoodAnglePrediction(double x) {
-        if (x < 34) {
-            double L = 1.04471;
-            double U = 0.711929;
-            double Q = 120.02263;
-            double B = 0.780982;
-            double M = 20.61191;
-            double v = 10.40506;
-
-            double inner = 1 + Q * Math.exp(-B * (x - M));
-            return L + (U - L) / Math.pow(inner, 1.0 / v);
-
-        } else {
-            // x >= 34
-            return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
-        }
-    }
-
-    void addOddThenRest(List<Integer> order, boolean oddColor) {
-        // Odd ball first
-        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
-        TELE.addData("1", shootOrder);
-        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
-        TELE.addData("works", shootOrder);
-        TELE.addData("oddBall", oddColor);
-        shootAll = true;
-
-    }
-
-    void addOddInMiddle(List<Integer> order, boolean oddColor) {
-
-        boolean[] used = new boolean[4];   // index 1..3
-
-        // 1) Add a NON-odd ball first
-        for (int i = 1; i <= 3; i++) {
-            if (getBallColor(i) != oddColor) {
-                order.add(i);
-                used[i] = true;
-                break;
-            }
-        }
-
-        // 2) Add the odd ball second
-        for (int i = 1; i <= 3; i++) {
-            if (!used[i] && getBallColor(i) == oddColor) {
-                order.add(i);
-                used[i] = true;
-                break;
-            }
-        }
-
-        // 3) Add the remaining non-odd ball third
-        for (int i = 1; i <= 3; i++) {
-            if (!used[i] && getBallColor(i) != oddColor) {
-                order.add(i);
-                used[i] = true;
-                break;
-            }
-        }
-
-        TELE.addData("works", order);
-        TELE.addData("oddBall", oddColor);
-        shootAll = true;
-
-    }
-
-    void addOddLast(List<Integer> order, boolean oddColor) {
-        // Odd ball last
-        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
-        TELE.addData("1", shootOrder);
-        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
-        TELE.addData("works", shootOrder);
-        TELE.addData("oddBall", oddColor);
-        shootAll = true;
-
-    }
-
-    // Returns color of ball in slot i (1-based)
-    boolean getBallColor(int slot) {
-        switch (slot) {
-            case 1:
-                return green1;
-            case 2:
-                return green2;
-            case 3:
-                return green3;
-        }
-        return false; // default
-    }
-
-    boolean ballIn(int slot) {
-        switch (slot) {
-            case 1:
-
-                if (!s1T.isEmpty()) {
-
-                    return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
-                }
-
-            case 2:
-
-                if (!s2T.isEmpty()) {
-
-                    return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
-                }
-
-            case 3:
-
-                if (!s3T.isEmpty()) {
-
-                    return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
-
-                }
-        }
-        return true; // default
-    }
-}

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

@@ -2,9 +2,9 @@ package org.firstinspires.ftc.teamcode.teleop;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
-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;
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -36,14 +36,13 @@ public class TeleopV3 extends LinearOpMode {
     public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
     public static double spinSpeedIncrease = 0.03;
     public static int resetSpinTicks = 4;
+    public static double hoodSpeedOffset = 0.01;
+    public static double turretSpeedOffset = 0.01;
     public double vel = 3000;
     public boolean autoVel = true;
     public boolean targetingHood = true;
-    public double manualOffset = 0.0;
     public boolean autoHood = true;
-
     public double shootStamp = 0.0;
-
     boolean fixedTurret = false;
     Robot robot;
     MultipleTelemetry TELE;
@@ -63,7 +62,6 @@ public class TeleopV3 extends LinearOpMode {
     double headingOffset = 0.0;
     int ticker = 0;
 
-    double hoodOffset = 0.0;
 
     boolean autoSpintake = false;
     boolean enableSpindexerManager = true;
@@ -110,6 +108,9 @@ public class TeleopV3 extends LinearOpMode {
             }
         }
 
+        limelightUsed= true;
+
+
         waitForStart();
         if (isStopRequested()) return;
 
@@ -117,7 +118,7 @@ public class TeleopV3 extends LinearOpMode {
 
         while (opModeIsActive()) {
 
-            TELE.addData("Is limelight on?", robot.limelight.getStatus());
+            //TELE.addData("Is limelight on?", robot.limelight.getStatus());
 
             // LIGHT COLORS
             spindexer.ballCounterLight();
@@ -191,44 +192,41 @@ public class TeleopV3 extends LinearOpMode {
             //HOOD:
 
             if (targetingHood) {
-                robot.hood.setPosition(targetingSettings.hoodAngle);
+                robot.hood.setPosition(targetingSettings.hoodAngle + autoHoodOffset);
             } else {
-                robot.hood.setPosition(hoodDefaultPos + hoodOffset);
+                robot.hood.setPosition(hoodDefaultPos);
             }
 
-            if (gamepad2.dpadUpWasPressed() || gamepad1.dpadUpWasPressed()) {
+            if (gamepad2.dpadUpWasPressed()) {
-                hoodOffset -= 0.03;
+                autoHoodOffset -= hoodSpeedOffset;
-                autoHoodOffset -= 0.02;
+                gamepad2.rumble(80);
-
-            } else if (gamepad2.dpadDownWasPressed() || gamepad1.dpadDownWasPressed()) {
-                hoodOffset += 0.03;
-                autoHoodOffset += 0.02;
 
+            } else if (gamepad2.dpadDownWasPressed()) {
+                autoHoodOffset += hoodSpeedOffset;
+                gamepad2.rumble(80);
             }
 
-            if (gamepad2.cross) {
+            if (gamepad2.dpadLeftWasPressed()) {
-                manualOffset = 0;
+                Turret.manualOffset -= turretSpeedOffset;
-                overrideTurr = true;
+                gamepad2.rumble(80);
+            } else if (gamepad2.dpadRightWasPressed()) {
+                Turret.manualOffset += turretSpeedOffset;
+                gamepad2.rumble(80);
             }
 
-            if (gamepad2.squareWasPressed()) {
+            if (gamepad2.rightBumperWasPressed()) {
-                drive = new MecanumDrive(hardwareMap, new Pose2d(20, 0, 0));
+                limelightUsed = true;
-                sleep(1500);
+                gamepad2.rumble(80);
+            } else if (gamepad2.leftBumperWasPressed()) {
+                limelightUsed = false;
+                gamepad2.rumble(80);
             }
 
-            if (gamepad2.triangle) {
+            if (gamepad2.crossWasPressed()) {
-                autoHood = false;
+                drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-                hoodOffset = 0;
             }
 
-            if (gamepad2.circleWasPressed()) {
-                xOffset = robotX;
-                yOffset = robotY;
-                headingOffset = robotHeading;
 
-                autoHood = true;
-                fixedTurret = false;
-            }
 
             if (enableSpindexerManager) {
                 //if (!shootAll) {
@@ -238,6 +236,9 @@ public class TeleopV3 extends LinearOpMode {
                 // RIGHT_BUMPER
                 if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
                     robot.intake.setPower(1);
+                } else if (gamepad1.cross) {
+                    robot.intake.setPower(-1);
+
                 } else {
                     robot.intake.setPower(0);
 
@@ -259,21 +260,21 @@ public class TeleopV3 extends LinearOpMode {
 
                     if (shooterTicker == 0) {
                         spindexer.prepareShootAllContinous();
-                        TELE.addLine("preparing to shoot");
+                        //TELE.addLine("preparing to shoot");
 //                    } else if (shooterTicker == 2) {
 //                        //robot.transferServo.setPosition(transferServo_in);
 //                        spindexer.shootAll();
 //                        TELE.addLine("starting to shoot");
                     } else if (!spindexer.shootAllComplete()) {
                         robot.transferServo.setPosition(transferServo_in);
-                        TELE.addLine("shoot");
+                        //TELE.addLine("shoot");
                     } else {
                         robot.transferServo.setPosition(transferServo_out);
                         //spindexPos = spindexer_intakePos1;
                         shootAll = false;
                         spindexer.resetSpindexer();
                         //spindexer.processIntake();
-                        TELE.addLine("stop shooting");
+                        //TELE.addLine("stop shooting");
                     }
                     shooterTicker++;
                     //spindexer.processIntake();
@@ -311,24 +312,24 @@ public class TeleopV3 extends LinearOpMode {
 //            TELE.addData("oddColor", oddBallColor);
 //
 //            // Spindexer Debug
-            TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
+//            TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
-            TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
+//            TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
-            TELE.addData("spinIntakeState", spindexer.currentIntakeState);
+//            TELE.addData("spinIntakeState", spindexer.currentIntakeState);
-            TELE.addData("spinTestCounter", spindexer.counter);
+//            TELE.addData("spinTestCounter", spindexer.counter);
-            TELE.addData("autoSpintake", autoSpintake);
+//            TELE.addData("autoSpintake", autoSpintake);
 //
-//            TELE.addData("shootall commanded", shootAll);
+            TELE.addData("shootall commanded", shootAll);
-//            // Targeting Debug
+            // Targeting Debug
-//            TELE.addData("robotX", robotX);
+            TELE.addData("robotX", robotX);
-//            TELE.addData("robotY", robotY);
+            TELE.addData("robotY", robotY);
-//            TELE.addData("robotInchesX", targeting.robotInchesX);
+            TELE.addData("robotInchesX", targeting.robotInchesX);
-//            TELE.addData( "robotInchesY", targeting.robotInchesY);
+            TELE.addData( "robotInchesY", targeting.robotInchesY);
-//            TELE.addData("Targeting Interpolate", turretInterpolate);
+            TELE.addData("Targeting Interpolate", turretInterpolate);
             TELE.addData("Targeting GridX", targeting.robotGridX);
             TELE.addData("Targeting GridY", targeting.robotGridY);
             TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
             TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
 
             TELE.update();
 

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

@@ -0,0 +1,15 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+@Config
+@TeleOp
+public class Test extends LinearOpMode {
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+    }
+}

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

@@ -201,7 +201,7 @@ public class Spindexer {
         // Position 2
         // Find which ball position this is in the spindexer
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 50) {
+        if (distanceFrontDriver < 56) {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
             if (detectFrontColor) {

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

@@ -1,89 +1,84 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import android.provider.Settings;
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.hardware.DcMotor;
+
-import com.qualcomm.robotcore.hardware.HardwareMap;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
 
 public class Targeting {
-    MultipleTelemetry TELE;
-
-    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;
-
-    public int robotGridX, robotGridY = 0;
-
-
-    public static class Settings {
-        public double flywheelRPM = 0.0;
-        public double hoodAngle = 0.0;
-
-        public Settings (double flywheelRPM, double hoodAngle) {
-            this.flywheelRPM = flywheelRPM;
-            this.hoodAngle = hoodAngle;
-        }
-    }
-
     // Known settings discovered using shooter test.
     // Keep the fidelity at 1 floor tile for now but we could also half it if more
     // accuracy is needed.
     public static final Settings[][] KNOWNTARGETING;
+
     static {
         KNOWNTARGETING = new Settings[6][6];
         // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][0] = new Settings(2300.0, 0.93);
-        KNOWNTARGETING[0][1] = 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][2] = new Settings(2500.0, 0.78);
-        KNOWNTARGETING[0][3] = new Settings (2800.0, 0.68);
+        KNOWNTARGETING[0][3] = new Settings(2800.0, 0.68);
-        KNOWNTARGETING[0][4] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][4] = new Settings(3000.0, 0.58);
-        KNOWNTARGETING[0][5] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings(3000.0, 0.58);
         // ROW 1
-        KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][0] = new Settings(2300.0, 0.93);
-        KNOWNTARGETING[1][1] = 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][2] = new Settings(2600.0, 0.78);
-        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+//        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
-        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+//        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
-        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
+//        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
+        KNOWNTARGETING[1][3] = new Settings(2800.0, 0.68);  // Real settings replaced with (0,3) new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings(3000.0, 0.58);  // Real setting replaced with (0,4)  new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings(3200.0, 0.50);
         // ROW 2
-        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
+//        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
-        KNOWNTARGETING[2][1] = 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][2] = new Settings (2700.0, 0.60);
-        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
+//        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
-        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
+//        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
-        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
+//        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
+        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(2800.0, 0.62);  // Real settings replaced with (1,3) new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings(3000.0, 0.55);  // real settings replaces with (1,4) new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings(3200.0, 0.50);  // real settings replaced with (1,5) new Settings (3100.0, 0.50);
         // ROW 3
-        KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][0] = new Settings(2900.0, 0.50);
-        KNOWNTARGETING[3][1] = 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][2] = new Settings(2900.0, 0.50);
-        KNOWNTARGETING[3][3] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][3] = new Settings(3100.0, 0.47);
-        KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings(3100.0, 0.47);
-        KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings(3100.0, 0.47);
         // ROW 4
-        KNOWNTARGETING[4][0] = new Settings (3100, 0.49);
+        KNOWNTARGETING[4][0] = new Settings(3100, 0.49);
-        KNOWNTARGETING[4][1] = new Settings (3100, 0.49);
+        KNOWNTARGETING[4][1] = new Settings(3100, 0.49);
-        KNOWNTARGETING[4][2] = new Settings (3100, 0.5);
+        KNOWNTARGETING[4][2] = new Settings(3100, 0.5);
-        KNOWNTARGETING[4][3] = new Settings (3200, 0.5);
+        KNOWNTARGETING[4][3] = new Settings(3200, 0.5);
-        KNOWNTARGETING[4][4] = new Settings (3250, 0.49);
+        KNOWNTARGETING[4][4] = new Settings(3250, 0.49);
-        KNOWNTARGETING[4][5] = new Settings (3300, 0.49);
+        KNOWNTARGETING[4][5] = new Settings(3300, 0.49);
         // ROW 5
-        KNOWNTARGETING[5][0] = new Settings (3200, 0.48);
+        KNOWNTARGETING[5][0] = new Settings(3200, 0.48);
-        KNOWNTARGETING[5][1] = new Settings (3200, 0.48);
+        KNOWNTARGETING[5][1] = new Settings(3200, 0.48);
-        KNOWNTARGETING[5][2] = new Settings (3300, 0.48);
+        KNOWNTARGETING[5][2] = new Settings(3300, 0.48);
-        KNOWNTARGETING[5][3] = new Settings (3350, 0.48);
+        KNOWNTARGETING[5][3] = new Settings(3350, 0.48);
-        KNOWNTARGETING[5][4] = new Settings (3350, 0.48);
+        KNOWNTARGETING[5][4] = new Settings(3350, 0.48);
-        KNOWNTARGETING[5][5] = new Settings (3350, 0.48);
+        KNOWNTARGETING[5][5] = new Settings(3350, 0.48);
+
     }
 
-    public Targeting()
+    public final int TILE_UPPER_QUARTILE = 18;
-    {
+    public final int TILE_LOWER_QUARTILE = 6;
+    public double robotInchesX, robotInchesY = 0.0;
+    public int robotGridX, robotGridY = 0;
+    MultipleTelemetry TELE;
+    double cancelOffsetX = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
+    double unitConversionFactor = 0.95;
+    int tileSize = 24; //inches
+
+    public Targeting() {
     }
 
     public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
@@ -102,8 +97,8 @@ 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 remX = Math.floorMod((int) robotInchesX, tileSize);
-        int remY = 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.
@@ -113,7 +108,7 @@ public class Targeting {
         int y1 = 0;
         interpolate = false;
         if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
-                (robotGridX < 5) && (robotGridY <5)) {
+                (robotGridX < 5) && (robotGridY < 5)) {
             // +X, +Y
             interpolate = true;
             x0 = robotGridX;
@@ -177,14 +172,20 @@ public class Targeting {
         }
 
         //clamp
+
+        if (redAlliance) {
             robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
             robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        } else {
+            robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+            robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        }
 
         // basic search
-        if(true) { //!interpolate) {
+        if (true) { //!interpolate) {
-            if ((robotGridY < 6) && (robotGridX <6)) {
+            if ((robotGridY < 6) && (robotGridX < 6)) {
                 recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.hoodOffset;
             }
             return recommendedSettings;
         } else {
@@ -211,9 +212,19 @@ public class Targeting {
 //            recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
 //            recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
             // Average target tiles
-            recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM)/2.0;
+            recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM) / 2.0;
-            recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle)/2.0;
+            recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle) / 2.0;
             return recommendedSettings;
         }
     }
+
+    public static class Settings {
+        public double flywheelRPM = 0.0;
+        public double hoodAngle = 0.0;
+
+        public Settings(double flywheelRPM, double hoodAngle) {
+            this.flywheelRPM = flywheelRPM;
+            this.hoodAngle = hoodAngle;
+        }
+    }
 }

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

@@ -1,7 +1,5 @@
 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;
@@ -23,9 +21,12 @@ public class Turret {
     public static double turretTolerance = 0.02;
     public static double turrPosScalar = 0.00011264432;
     public static double turret180Range = 0.4;
-    public static double turrDefault = 0.4;
+    public static double turrDefault = 0.39;
     public static double turrMin = 0.15;
     public static double turrMax = 0.85;
+    public static boolean limelightUsed = true;
+
+    public static double manualOffset = 0.0;
 
     public static double visionCorrectionGain = 0.08;  // Single tunable gain
     public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
@@ -34,28 +35,23 @@ public class Turret {
     // TODO: tune these values for limelight
 
     public static double clampTolerance = 0.03;
+    public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
-
     double tx = 0.0;
     double ty = 0.0;
     double limelightPosX = 0.0;
     double limelightPosY = 0.0;
+    LLResult result;
+    boolean bearingAligned = false;
     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;
@@ -84,11 +80,6 @@ public class Turret {
     }
 
     private void limelightRead() { // only for tracking purposes, not general reads
-        if (redAlliance) {
-            webcam.pipelineSwitch(4);
-        } else {
-            webcam.pipelineSwitch(2);
-        }
 
         result = webcam.getLatestResult();
         if (result != null) {
@@ -152,8 +143,7 @@ public class Turret {
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
 
-
+    private double bearingAlign(LLResult llResult) {
-    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;
@@ -169,8 +159,7 @@ public class Turret {
         }
 
         // Only with valid data and if too far off target
-        if (llResult.isValid() && !bearingAligned)
+        if (llResult.isValid() && !bearingAligned) {
-        {
 
             // Adjust Robot Speed based on how far the target is located
             // Only drive at half speed max
@@ -192,7 +181,6 @@ public class Turret {
         return bearingOffset;
     }
 
-
     public void trackGoal(Pose2d deltaPos) {
 
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
@@ -223,7 +211,7 @@ public class Turret {
 
         limelightRead();
         // Active correction if we see the target
-        if (result.isValid() && !lockOffset) {
+        if (result.isValid() && !lockOffset && limelightUsed) {
             currentTrackOffset += bearingAlign(result);
             currentTrackCount++;
 //            double bearingError = Math.abs(tagBearingDeg);
@@ -282,21 +270,21 @@ public class Turret {
         }
 
         // Set servo positions
-        robot.turr1.setPosition(turretPos);
+        robot.turr1.setPosition(turretPos + manualOffset);
-        robot.turr2.setPosition(1.0 - turretPos);
+        robot.turr2.setPosition(1.0 - turretPos - manualOffset);
 
 
         /* ---------------- TELEMETRY ---------------- */
 
-        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
+//        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
-        TELE.addData("Target Pos", "%.3f", targetTurretPos);
+//        TELE.addData("Target Pos", "%.3f", targetTurretPos);
-        TELE.addData("Current Pos", "%.3f", currentPos);
+//        TELE.addData("Current Pos", "%.3f", currentPos);
-        TELE.addData("Commanded Pos", "%.3f", turretPos);
+//        TELE.addData("Commanded Pos", "%.3f", turretPos);
-        TELE.addData("LL Valid", result.isValid());
+//        TELE.addData("LL Valid", result.isValid());
-        TELE.addData("LL getTx", result.getTx());
+//        TELE.addData("LL getTx", result.getTx());
-        TELE.addData("LL Offset", offset);
+//        TELE.addData("LL Offset", offset);
-        //TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+//        TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
-        TELE.addData("Learned Offset", "%.2f", offset);
+//        TELE.addData("Learned Offset", "%.2f", offset);
     }
 
 }