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

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

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

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

@@ -814,6 +814,8 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
             TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velo1", flywheel.velo1);
+            TELE.addData("Velo2", flywheel.velo2);
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 

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

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

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

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

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

@@ -21,7 +21,7 @@ public class Robot {
     //Initialize Public Components
 
     public static boolean usingLimelight = true;
-    public static boolean usingCamera = true;
+    public static boolean usingCamera = false;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -29,10 +29,10 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
+    public double shooterPIDF_P = 255.0;
-    public double shooterPIDF_I = 0.6;
+    public double shooterPIDF_I = 0.0;
-    public double shooterPIDF_D = 5.0;
+    public double shooterPIDF_D = 0.0;
-    public double shooterPIDF_F = 10.0;
+    public double shooterPIDF_F = 7.5;
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;

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

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

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

@@ -277,7 +277,6 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
                     stopSpindexer();
-                    detectBalls(true, true);
                     unknownColorDetect = 0;
                 } else {
                     // Keep moving the spindexer
@@ -288,7 +287,7 @@ public class Spindexer {
                 if (unknownColorDetect >5) {
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
-                    detectBalls(true, true);
+                    //detectBalls(true, true);
                     unknownColorDetect++;
                 }
                 break;
@@ -306,33 +305,32 @@ public class Spindexer {
                 // Find Next Open Position and start movement
                 double currentSpindexerPos = servos.getSpinPos();
                 double commandedtravelDistance = 2.0;
-                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                //double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
-                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
-                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
-                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
-                    commandedIntakePosition = bestFitMotif();
+                    //commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -343,7 +341,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(false, false);
+                    //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -374,7 +372,7 @@ public class Spindexer {
 
             case SHOOT_ALL_READY:
                 // Double Check Colors
-                detectBalls(false, false); // Minimize hardware calls
+                //detectBalls(false, false); // Minimize hardware calls
                 if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
                     // All ball shot move to intake state
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
@@ -422,7 +420,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(true, false);
+                    //detectBalls(true, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);

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

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

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

@@ -1,12 +1,13 @@
-
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 
+import static java.lang.Math.abs;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
-import com.arcrobotics.ftclib.controller.PIDFController;
+import com.arcrobotics.ftclib.controller.PIDController;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
@@ -18,54 +19,55 @@ import java.util.List;
 
 @Config
 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 turrMin = 0.15;
+    public static double turrMax = 0.85;
+
+    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+    public static double cameraBearingEqual = 0.5;      // Deadband
+
     // TODO: tune these values for limelight
-// At the top with other static variables:
-    public static double kP = 0.015;  // Proportional gain - tune this first
-    public static double kI = 0.0005; // Integral gain - add slowly if needed
-    public static double kD = 0.002;  // Derivative gain - helps prevent overshoot
 
-    public static double kF = 0.002;  // Derivative gain - helps prevent overshoot
+    public static double clampTolerance = 0.03;
-
-    public static double maxOffset = 10; // degrees - safety limit
-
-    // Add these as instance variables:
-    private double lastTagBearing = 0.0;
-    private double offsetIntegral = 0.0;
-
-    public static double cameraBearingEqual = 1;
-
-
-    public static double turrMin = 0.2;
-    public static double turrMax = 0.8;
-    public static double mult = 0.0;
-    private boolean lockOffset = false;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
-    private int obeliskID = 0;
-    private double offset = 0.0;
 
-    private PIDFController controller = new PIDFController(kP, kI, kD, kF);
     double tx = 0.0;
     double ty = 0.0;
     double limelightPosX = 0.0;
     double limelightPosY = 0.0;
-    public static double clampTolerance = 0.03;
+    private boolean lockOffset = false;
+    private int obeliskID = 0;
+
+    private double offset = 0.0;
+    private double currentTrackOffset = 0.0;
+    private int currentTrackCount = 0;
+
+    private double permanentOffset = 0.0;
+
+    LLResult result;
+
+    private PIDController bearingPID;
+    public static double B_PID_P = 0.3, B_PID_I = 0.0, B_PID_D = 0.05;
+    boolean bearingAligned = false;
 
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;
         this.webcam = cam;
         webcam.start();
-        if (redAlliance){
+        if (redAlliance) {
             webcam.pipelineSwitch(3);
         } else {
             webcam.pipelineSwitch(2);
         }
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
     }
 
     public void zeroTurretEncoder() {
@@ -78,30 +80,30 @@ public class Turret {
 
     }
 
-    public void manualSetTurret(double pos){
+    public void manualSetTurret(double pos) {
         robot.turr1.setPosition(pos);
-        robot.turr2.setPosition(1-pos);
+        robot.turr2.setPosition(1 - pos);
     }
 
     public boolean turretEqual(double pos) {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
-    private void limelightRead(){ // only for tracking purposes, not general reads
+    private void limelightRead() { // only for tracking purposes, not general reads
-        if (redAlliance){
+        if (redAlliance) {
-            webcam.pipelineSwitch(3);
+            webcam.pipelineSwitch(4);
         } else {
             webcam.pipelineSwitch(2);
         }
 
-        LLResult result = webcam.getLatestResult();
+        result = webcam.getLatestResult();
         if (result != null) {
             if (result.isValid()) {
                 tx = result.getTx();
                 ty = result.getTy();
                 // MegaTag1 code for receiving position
                 Pose3D botpose = result.getBotpose();
-                if (botpose != null){
+                if (botpose != null) {
                     limelightPosX = botpose.getPosition().x;
                     limelightPosY = botpose.getPosition().y;
                 }
@@ -116,17 +118,17 @@ public class Turret {
         return tx;
     }
 
-    public double getTy(){
+    public double getTy() {
         limelightRead();
         return ty;
     }
 
-    public double getLimelightX(){
+    public double getLimelightX() {
         limelightRead();
         return limelightPosX;
     }
 
-    public double getLimelightY(){
+    public double getLimelightY() {
         limelightRead();
         return limelightPosY;
     }
@@ -158,9 +160,50 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
+
+
+    private double bearingAlign (LLResult llResult) {
+        double bearingOffset = 0.0;
+        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
+        final double MIN_OFFSET_POWER = 0.15;
+        final double TARGET_POSITION_TOLERANCE = 1.0;
+        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+        final double DRIVE_POWER_REDUCTION = 2.0;
+
+        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
+            bearingAligned = true;
+        } else {
+            bearingAligned = false;
+        }
+
+        // Only with valid data and if too far off target
+        if (llResult.isValid() && !bearingAligned)
+        {
+
+            // Adjust Robot Speed based on how far the target is located
+            // Only drive at half speed max
+            // switched to PID but original formula left for reference in comments
+            //drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
+            bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
+
+//            // Make sure we have enough power to actually drive the wheels
+//            if (abs(bearingOffset) < MIN_OFFSET_POWER) {
+//                if (bearingOffset > 0.0) {
+//                    bearingOffset = MIN_OFFSET_POWER;
+//                } else {
+//                    bearingOffset = -MIN_OFFSET_POWER;
+//                }
+//
+//            }
+        }
+
+        return bearingOffset;
+    }
+
+
     public void trackGoal(Pose2d deltaPos) {
 
-        controller.setPIDF(kP, kI, kD, kF);
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
 
         // Angle from robot to goal in robot frame
@@ -173,55 +216,96 @@ public class Turret {
 
         // Turret angle needed relative to robot
         double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
-
         turretAngleDeg = -turretAngleDeg;
 
         // Normalize to [-180, 180]
         while (turretAngleDeg > 180) turretAngleDeg -= 360;
         while (turretAngleDeg < -180) turretAngleDeg += 360;
 
-        /* ---------------- APRILTAG CORRECTION ---------------- */
+
+        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
+        // Update local limelight results
+        //double tagBearingDeg = getBearing();  // + = target is to the left
+        //boolean hasValidTarget = (tagBearingDeg != 1000.0);
+
+        turretAngleDeg += permanentOffset;
+
+        limelightRead();
+        // Active correction if we see the target
+        if (result.isValid() && !lockOffset) {
+            currentTrackOffset += bearingAlign(result);
+            currentTrackCount++;
+//            double bearingError = Math.abs(tagBearingDeg);
 //
-        double tagBearingDeg = getBearing();  // + = target is to the left
+//            if (bearingError > cameraBearingEqual) {
-
+//                // Apply sqrt scaling to reduce aggressive corrections at large errors
-        turretAngleDeg += offset;
+//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
-
+//
-        /* ---------------- ANGLE → SERVO ---------------- */
+//                // Calculate correction
-
+//                double offsetChange = visionCorrectionGain * filteredBearing;
-        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+//
-
+//                // Limit rate of change to prevent jumps
-        // Clamp to servo range
+//                offsetChange = Math.max(-maxOffsetChangePerCycle,
-        double currentEncoderPos = this.getTurrPos();
+//                        Math.min(maxOffsetChangePerCycle, offsetChange));
-
+//
-        if (!turretEqual(turretPos)) {
+//                // Accumulate the correction
-            double diff = turretPos - currentEncoderPos;
+//                offset += offsetChange;
-            turretPos = turretPos + diff * mult;
+//
+//                TELE.addData("Bearing Error", tagBearingDeg);
+//                TELE.addData("Offset Change", offsetChange);
+//                TELE.addData("Total Offset", offset);
+//            } else {
+//                // When centered, lock in the learned offset
+//                permanentOffset = offset;
+//                offset = 0.0;
+//            }
+        } else {
+            // only store perma update after 20+ successful tracks
+            // this did not work good in testing; only current works best so far.
+//            if (currentTrackCount > 20) {
+//                offset = currentTrackOffset;
+//            }
+            currentTrackOffset = 0.0;
+            currentTrackCount = 0;
         }
 
-        if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) {
+        // Apply accumulated offset
-            // Clamp to servo range
+        turretAngleDeg += offset + currentTrackOffset;
-            turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
-        } else { // TODO: add so it only adds error when standstill
-            if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) {
-                // PID-based offset correction for faster, smoother tracking
-
-                // Proportional: respond to current error
-
-                 offset = -controller.calculate(tagBearingDeg);
 
 
+        /* ---------------- ANGLE → SERVO POSITION ---------------- */
 
-            }
+        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to physical servo limits
+        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
+
+        // Interpolate towards target position
+        double currentPos = getTurrPos();
+        double turretPos = targetTurretPos;
+
+        if (targetTurretPos == turrMin) {
+            turretPos = turrMin;
+        } else if (targetTurretPos == turrMax) {
+            turretPos = turrMax;
         }
 
+        // Set servo positions
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1.0 - turretPos);
 
+
         /* ---------------- TELEMETRY ---------------- */
 
-        TELE.addData("Turret Angle", turretAngleDeg);
+        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
-        TELE.addData("Bearing", tagBearingDeg);
+        TELE.addData("Target Pos", "%.3f", targetTurretPos);
-        TELE.addData("Offset", offset);
+        TELE.addData("Current Pos", "%.3f", currentPos);
+        TELE.addData("Commanded Pos", "%.3f", turretPos);
+        TELE.addData("LL Valid", result.isValid());
+        TELE.addData("LL getTx", result.getTx());
+        TELE.addData("LL Offset", offset);
+        //TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+        TELE.addData("Learned Offset", "%.2f", offset);
     }
 
 }