Add shoot all ball order

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/TurretTest.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/ProtoAutoClose_V3.java

@@ -710,7 +710,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 bearing = result.getTx();
             }
         }
-        double turretPos = robot.turr1Pos.getCurrentPosition() - (bearing / 1300);
+        double turretPos = (bearing / 1300);
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1 - turretPos);
     }

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

@@ -12,7 +12,7 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
 
     public static double rx1 = 40, ry1 = -7, rh1 = 0;
     public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
@@ -38,6 +38,6 @@ public class Poses {
     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 Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
 
 }

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

@@ -42,4 +42,8 @@ public class ServoPositions {
     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/constants/ShooterVars.java

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

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

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

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

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

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

@@ -1,11 +1,9 @@
 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.constants.ServoPositions.turrDefault;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
@@ -21,7 +19,6 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.arcrobotics.ftclib.controller.PIDFController;
-import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -29,10 +26,13 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -53,6 +53,8 @@ public class TeleopV3 extends LinearOpMode {
     public static boolean manualTurret = true;
     public double vel = 3000;
     public boolean autoVel = true;
+    public boolean targetingVel = true;
+    public boolean targetingHood = true;
     public double manualOffset = 0.0;
     public boolean autoHood = true;
     public boolean green1 = false;
@@ -72,6 +74,8 @@ public class TeleopV3 extends LinearOpMode {
     Flywheel flywheel;
     MecanumDrive drive;
     Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
     double autoHoodOffset = 0.0;
 
     int shooterTicker = 0;
@@ -116,6 +120,7 @@ public class TeleopV3 extends LinearOpMode {
     private double transferStamp = 0.0;
     private int tickerA = 1;
     private boolean transferIn = false;
+    boolean turretInterpolate = false;
 
     public static double velPrediction(double distance) {
         if (distance < 30) {
@@ -146,18 +151,23 @@ public class TeleopV3 extends LinearOpMode {
         flywheel = new Flywheel(hardwareMap);
         drive = new MecanumDrive(hardwareMap, teleStart);
         spindexer = new Spindexer(hardwareMap);
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
 
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
         tController.setTolerance(0.001);
+//
+//        if (redAlliance) {
+//            robot.limelight.pipelineSwitch(3);
+//        } else {
+//            robot.limelight.pipelineSwitch(2);
+//        }
 
-        if (redAlliance) {
+//        robot.limelight.start();
-            robot.limelight.pipelineSwitch(3);
-        } else {
-            robot.limelight.pipelineSwitch(2);
-        }
 
-        robot.limelight.start();
+        Turret turret = new Turret(robot, TELE, robot.limelight);
+        waitForStart();
 
         waitForStart();
         if (isStopRequested()) return;
@@ -372,43 +382,26 @@ public class TeleopV3 extends LinearOpMode {
             double robotY = robY - yOffset;
             double robotHeading = drive.localizer.getPose().heading.toDouble();
 
-            double goalX = -10;
+            double goalX = -15;
             double goalY = 0;
 
-            double dx = goalX - robotX;  // delta x from robot to goal
+            double dx = robotX - goalX;  // delta x from robot to goal
-            double dy = goalY - robotY;  // delta y 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);
 
-            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
+            targetingSettings = targeting.calculateSettings
+                    (robotX,robotY,robotHeading,0.0, turretInterpolate);
 
-            desiredTurretAngle += manualOffset + error;
+            turret.trackGoal(deltaPose);
 
-            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
 
-            if (offset > 135) {
-                offset -= 360;
-            }
-
-            double pos = turrDefault;
-
-            TELE.addData("offset", offset);
-
-            pos -= offset * ((double) 1 / 360);
-
-            if (pos < 0.13) {
-                pos = 0.13;
-            } else if (pos > 0.83) {
-                pos = 0.83;
-            }
-
-            //SHOOTER:
-
-            flywheel.manageFlywheel(vel);
 
             //VELOCITY AUTOMATIC
-
+            if (targetingVel) {
-            if (autoVel) {
+                vel = targetingSettings.flywheelRPM;
+            } else if (autoVel) {
                 vel = velPrediction(distanceToGoal);
             } else {
                 vel = manualVel;
@@ -430,57 +423,39 @@ public class TeleopV3 extends LinearOpMode {
                 manualVel = 3100;
             }
 
+            //SHOOTER:
+            flywheel.manageFlywheel(vel);
+
             //TODO: test the camera teleop code
 
-            TELE.addData("posS2", pos);
+//            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
-
+//                double bearing;
-            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
+//
-                double bearing;
+//                LLResult result = robot.light.getLatestResult();
-
+//                if (result != null) {
-                LLResult result = robot.limelight.getLatestResult();
+//                    if (result.isValid()) {
-                if (result != null) {
+//                        bearing = result.getTx() * bMult;
-                    if (result.isValid()) {
+//
-                        bearing = result.getTx() * bMult;
+//                        double bearingCorrection = bearing / bDiv;
-
+//
-                        double bearingCorrection = bearing / bDiv;
+//                        error += bearingCorrection;
-
+//
-                        error += bearingCorrection;
+//                        camTicker++;
-
+//                        TELE.addData("tx", bearingCorrection);
-                        camTicker++;
+//                        TELE.addData("ty", result.getTy());
-                        TELE.addData("tx", bearingCorrection);
+//                    }
-                        TELE.addData("ty", result.getTy());
+//                }
-                    }
+//
-                }
+//            } else {
-
+//                camTicker = 0;
-            } else {
+//                overrideTurr = false;
-                camTicker = 0;
+//            }
-                overrideTurr = false;
-            }
-
-            if (!overrideTurr) {
-                turretPos = pos;
-            }
-
-            TELE.addData("posS3", turretPos);
-
-            if (manualTurret) {
-                pos = turrDefault + (manualOffset / 100) + error;
-            }
-
-            if (!overrideTurr) {
-                turretPos = pos;
-            }
-
-            if (Math.abs(gamepad2.left_stick_x)>0.2) {
-                manualOffset += 1.35 * gamepad2.left_stick_x;
-            }
-
-            robot.turr1.setPosition(pos);
-            robot.turr2.setPosition(1 - pos);
 
             //HOOD:
 
-            if (autoHood) {
+            if (targetingHood) {
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+            } else if (autoHood) {
                 robot.hood.setPosition(0.15 + hoodOffset);
             } else {
                 robot.hood.setPosition(hoodDefaultPos + hoodOffset);
@@ -831,6 +806,7 @@ public class TeleopV3 extends LinearOpMode {
             for (LynxModule hub : allHubs) {
                 hub.clearBulkCache();
             }
+
 //
             TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
             TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
@@ -845,16 +821,28 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
+            // Spindexer Debug
             TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
             TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
             TELE.addData("spinIntakeState", spindexer.currentIntakeState);
             TELE.addData("spinTestCounter", spindexer.counter);
             TELE.addData("autoSpintake", autoSpintake);
-            TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
+            //TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
-            TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
+            //TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
-            TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
+            //TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
             TELE.addData("shootall commanded", shootAll);
+            // Targeting Debug
+            TELE.addData("robotX", robotX);
+            TELE.addData( "robotY", robotY);
+            TELE.addData("robotInchesX", targeting.robotInchesX);
+            TELE.addData( "robotInchesY", targeting.robotInchesY);
+            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.update();
 
             ticker++;

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

@@ -52,7 +52,6 @@ public class PIDServoTest extends LinearOpMode {
             }
 
             telemetry.addData("pos", pos);
-            telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
             telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
             telemetry.addData("target", target);
             telemetry.addData("Mode", mode);

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

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -55,7 +56,7 @@ public class ShooterTest extends LinearOpMode {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                flywheel.setPIDF(P,I,D,F);
+                flywheel.setPIDF(P, I, D, F);
                 flywheel.manageFlywheel((int) Velocity);
             }
 
@@ -63,7 +64,6 @@ public class ShooterTest extends LinearOpMode {
                 robot.hood.setPosition(hoodPos);
             }
 
-
             robot.transfer.setPower(transferPower);
             if (shoot) {
                 robot.transferServo.setPosition(transferServo_in);

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

@@ -0,0 +1,55 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+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.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Autonomous
+@Config
+public class TurretTest extends LinearOpMode {
+
+    public static boolean zeroTurr = false;
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot robot = new Robot(hardwareMap);
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+
+        Turret turret = new Turret(robot, TELE, robot.limelight);
+        waitForStart();
+
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
+
+        while(opModeIsActive()){
+
+            drive.updatePoseEstimate();
+            turret.trackGoal(drive.localizer.getPose());
+
+
+
+            TELE.addData("tpos", turret.getTurrPos());
+
+            if(zeroTurr){
+                turret.zeroTurretEncoder();
+            }
+
+
+
+            TELE.update();
+        }
+
+    }
+}

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

@@ -1,22 +1,13 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
-import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 
 public class Flywheel {
     Robot robot;
-    MultipleTelemetry TELE;
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
-
-    double initPos = 0.0;
-    double stamp = 0.0;
-    double stamp1 = 0.0;
-    double ticker = 0.0;
-    double currentPos = 0.0;
     double velo = 0.0;
     double velo1 = 0.0;
     double velo2 = 0.0;
@@ -25,6 +16,10 @@ public class Flywheel {
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
+        shooterPIDF1 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+        shooterPIDF2 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
     }
 
     public double getVelo () {
@@ -48,10 +43,6 @@ public class Flywheel {
         robot.shooterPIDF.d = d;
         robot.shooterPIDF.f = f;
     }
-    private double getTimeSeconds ()
-    {
-        return (double) System.currentTimeMillis()/1000.0;
-    }
 
     // Convert from RPM to Ticks per Second
     private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
@@ -62,19 +53,20 @@ public class Flywheel {
     public double manageFlywheel(double commandedVelocity) {
         targetVelocity = commandedVelocity;
 
-        // Turn PIDF for Target Velocities
+        // 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, robot.shooterPIDF);
+
-        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
         robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
         robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
 
         // Record Current Velocity
         velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-        velo2 = TPS_to_RPM(robot.shooter1.getVelocity()); // Possible error: should it be shooter2 not shooter1?
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
         velo = Math.max(velo1,velo2);
 
         // really should be a running average of the last 5

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

@@ -8,6 +8,8 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
 @TeleOp
 @Config
 public class PositionalServoProgrammer extends LinearOpMode {
@@ -25,11 +27,17 @@ public class PositionalServoProgrammer extends LinearOpMode {
     public static double hoodPos = 0.501;
     public static int mode = 0; //0 for positional, 1 for power
 
+    Turret turret;
+
     @Override
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
+
+
+
+        turret = new Turret(robot, TELE, robot.limelight );
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
@@ -66,13 +74,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
             //TODO: @KeshavAnandCode do the above please
 
             TELE.addData("spindexer pos", servo.getSpinPos());
-            TELE.addData("turret pos", servo.getTurrPos());
+            TELE.addData("turret pos", robot.turr1.getPosition());
             TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
             TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
             TELE.addData("hood pos", robot.hood.getPosition());
             TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
-            TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
             TELE.addData("spindexer pow", robot.spin1.getPower());
+            TELE.addData("tpos ", turret.getTurrPos() );
             TELE.update();
         }
     }

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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -14,10 +15,13 @@ import com.qualcomm.robotcore.hardware.Servo;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
+@Config
 public class Robot {
 
     //Initialize Public Components
 
+    public static boolean usingLimelight = true;
+    public static boolean usingCamera = false;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -29,8 +33,7 @@ public class Robot {
     public double shooterPIDF_I = 0.6;
     public double shooterPIDF_D = 5.0;
     public double shooterPIDF_F = 10.0;
-
+    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
-    public double[] shooterPIDF_StepSizes = {10.0,1.0,0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
@@ -41,7 +44,7 @@ public class Robot {
     public CRServo spin2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
-    public DcMotorEx turr1Pos;
+    public AnalogInput turr1Pos;
     public AnalogInput transferServoPos;
     public AprilTagProcessor aprilTagProcessor;
     public WebcamName webcam;
@@ -50,10 +53,6 @@ public class Robot {
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
 
-    public static boolean usingLimelight = true;
-
-    public static boolean usingCamera = true;
-
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
@@ -77,11 +76,13 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
         //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooterPIDF = new PIDFCoefficients(shooterPIDF_P,shooterPIDF_I , shooterPIDF_D, shooterPIDF_F);
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter1.setVelocity(0);
         shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setVelocity(0);
 
         hood = hardwareMap.get(Servo.class, "hood");
 
@@ -89,7 +90,7 @@ public class Robot {
 
         turr2 = hardwareMap.get(Servo.class, "t2");
 
-        turr1Pos = intake; // Encoder of turret plugged in intake port
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
 
         //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
         spin1 = hardwareMap.get(CRServo.class, "spin1");
@@ -118,9 +119,9 @@ public class Robot {
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
 
-        if (usingLimelight){
+        if (usingLimelight) {
             limelight = hardwareMap.get(Limelight3A.class, "limelight");
-        } else if (usingCamera){
+        } else if (usingCamera) {
             webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
             aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }

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

@@ -44,17 +44,15 @@ public class Servos {
     }
 
     public double getTurrPos() {
-        return (double) ((double) robot.turr1Pos.getCurrentPosition() / 1024.0) * ((double) 44.0 / (double) 77.0);
+        return 1.0;
 
     }
 
     public double setTurrPos(double pos) {
-        turretPID.setPIDF(turrP, turrI, turrD, turrF);
+        return 1.0;
-
-        return spinPID.calculate(this.getTurrPos(), pos);
     }
 
     public boolean turretEqual(double pos) {
-        return Math.abs(pos - this.getTurrPos()) < 0.01;
+        return true;
     }
 }

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

@@ -16,9 +16,11 @@ import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Types;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
 public class Spindexer {
+
     Robot robot;
     Servos servos;
     Flywheel flywheel;
@@ -36,6 +38,7 @@ public class Spindexer {
     public double distanceFrontDriver = 0.0;
     public double distanceFrontPassenger = 0.0;
 
+    public Types.Motif desiredMotif = Types.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
         REARCENTER,
@@ -52,7 +55,9 @@ public class Spindexer {
     }
 
     enum IntakeState {
-        UNKNOWN,
+        UNKNOWN_START,
+        UNKNOWN_MOVE,
+        UNKNOWN_DETECT,
         INTAKE,
         FINDNEXT,
         MOVING,
@@ -60,10 +65,12 @@ public class Spindexer {
         SHOOTNEXT,
         SHOOTMOVING,
         SHOOTWAIT,
+        SHOOT_ALL_PREP,
+        SHOOT_ALL_READY
     };
 
-    public IntakeState currentIntakeState = IntakeState.UNKNOWN;
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
-
+    public int unknownColorDetect = 0;
     enum BallColor {
         UNKNOWN,
         GREEN,
@@ -131,13 +138,13 @@ public class Spindexer {
         for (int i = 0; i < 3; i++) {
             resetBallPosition(i);
         }
-        currentIntakeState = IntakeState.UNKNOWN;
+        currentIntakeState = IntakeState.UNKNOWN_START;
     }
 
     // Detects if a ball is found and what color.
     // Returns true is there was a new ball found in Position 1
     // FIXIT: Reduce number of times that we read the color sensors for loop times.
-    public boolean detectBalls() {
+    public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
 
         boolean newPos1Detection = false;
         int spindexerBallPos = 0;
@@ -153,18 +160,20 @@ public class Spindexer {
             // Mark Ball Found
             newPos1Detection = true;
 
-            // Detect which color
+            if (detectRearColor) {
-            double green = robot.color1.getNormalizedColors().green;
+                // Detect which color
-            double red = robot.color1.getNormalizedColors().red;
+                double green = robot.color1.getNormalizedColors().green;
-            double blue = robot.color1.getNormalizedColors().blue;
+                double red = robot.color1.getNormalizedColors().red;
+                double blue = robot.color1.getNormalizedColors().blue;
 
-            double gP = green / (green + red + blue);
+                double gP = green / (green + red + blue);
 
-           // FIXIT - Add filtering to improve accuracy.
+                // FIXIT - Add filtering to improve accuracy.
-           if (gP >= 0.4) {
+                if (gP >= 0.4) {
-               ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
-           } else {
+                } else {
-               ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
+                }
            }
         }
         // Position 2
@@ -173,18 +182,19 @@ public class Spindexer {
         if (distanceFrontDriver < 60) {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
-            // FIXIT: Comment out for now due to loop time concerns
+            if (detectFrontColor) {
-//            double green = robot.color2.getNormalizedColors().green;
+                double green = robot.color2.getNormalizedColors().green;
-//            double red = robot.color2.getNormalizedColors().red;
+                double red = robot.color2.getNormalizedColors().red;
-//            double blue = robot.color2.getNormalizedColors().blue;
+                double blue = robot.color2.getNormalizedColors().blue;
-//
-//            double gP = green / (green + red + blue);
 
-//           if (gP >= 0.4) {
+                double gP = green / (green + red + blue);
-//               b2 = 2;  // purple
+
-//           } else {
+                if (gP >= 0.4) {
-//               b2 = 1;  // green
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
-//           }
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
+                }
+            }
         } else {
             if (!ballPositions[spindexerBallPos].isEmpty) {
                 if (ballPositions[spindexerBallPos].foundEmpty > 3) {
@@ -201,18 +211,19 @@ public class Spindexer {
 
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
-            // FIXIT: Comment out for now due to loop time concerns
+            if (detectFrontColor) {
-//            double green = robot.color3.getNormalizedColors().green;
+                double green = robot.color3.getNormalizedColors().green;
-//            double red = robot.color3.getNormalizedColors().red;
+                double red = robot.color3.getNormalizedColors().red;
-//            double blue = robot.color3.getNormalizedColors().blue;
+                double blue = robot.color3.getNormalizedColors().blue;
 
-//            double gP = green / (green + red + blue);
+                double gP = green / (green + red + blue);
 
-//           if (gP >= 0.4) {
+                if (gP >= 0.4) {
-//               b3 = 2;  // purple
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
-//           } else {
+                } else {
-//               b3 = 1;  // green
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
-//           }
+                }
+            }
         } else {
             if (!ballPositions[spindexerBallPos].isEmpty) {
                 if (ballPositions[spindexerBallPos].foundEmpty > 3) {
@@ -255,15 +266,35 @@ public class Spindexer {
     public boolean processIntake() {
 
         switch (currentIntakeState) {
-            case UNKNOWN:
+            case UNKNOWN_START:
                 // For now just set position ONE if UNKNOWN
                 commandedIntakePosition = 0;
                 servos.setSpinPos(intakePositions[0]);
-                currentIntakeState = Spindexer.IntakeState.MOVING;
+                currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
+                break;
+            case UNKNOWN_MOVE:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
+                    stopSpindexer();
+                    detectBalls(true, true);
+                    unknownColorDetect = 0;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+            case UNKNOWN_DETECT:
+                if (unknownColorDetect >5) {
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                } else {
+                    detectBalls(true, true);
+                    unknownColorDetect++;
+                }
                 break;
             case INTAKE:
                 // Ready for intake and Detecting a New Ball
-                if (detectBalls()) {
+                if (detectBalls(true, false)) {
                     ballPositions[commandedIntakePosition].isEmpty = false;
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
@@ -301,6 +332,7 @@ public class Spindexer {
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
+                    commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -311,7 +343,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls();
+                    detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -320,7 +352,7 @@ public class Spindexer {
 
             case FULL:
                 // Double Check Colors
-                detectBalls();
+                detectBalls(false, false); // Minimize hardware calls
                 if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
                     // Error handling found an empty spot, get it ready for a ball
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
@@ -329,6 +361,28 @@ public class Spindexer {
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
                 break;
 
+            case SHOOT_ALL_PREP:
+                // We get here with function call to prepareToShootMotif
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_READY;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                }
+                break;
+
+            case SHOOT_ALL_READY:
+                // Double Check Colors
+                detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
+                    // All ball shot move to intake state
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                }
+                // Maintain Position
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
             case SHOOTNEXT:
                 // Find Next Open Position and start movement
                 if (!ballPositions[0].isEmpty) {
@@ -357,16 +411,6 @@ public class Spindexer {
                 // Stopping when we get to the new position
                 if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
-                    ballPositions[commandedIntakePosition].isEmpty = true;
-                    // Advance to next full position and wait
-//                    commandedIntakePosition++;
-//                    if (commandedIntakePosition > 2) {
-//                        commandedIntakePosition = 0;
-//                    }
-//                    // Continue moving to next position
-//                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-//                    currentIntakeState = Spindexer.IntakeState.MOVING;
-
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
@@ -378,7 +422,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls();
+                    detectBalls(true, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -394,6 +438,55 @@ public class Spindexer {
         return false;
     }
 
+    public void setDesiredMotif (Types.Motif newMotif) {
+        desiredMotif = newMotif;
+    }
+
+    // Returns the best fit for the motiff
+    public int bestFitMotif () {
+        switch (desiredMotif) {
+            case GPP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 2;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 1;
+                }
+                //break;
+            case PGP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else {
+                    return 3;
+                }
+                //break;
+            case PPG:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 2;
+                }
+                //break;
+            case NONE:
+                return 0;
+                //break;
+        }
+        return 0;
+    }
+
+    void prepareToShootMotif () {
+        commandedIntakePosition = bestFitMotif();
+    }
+
+    void shootAllToIntake () {
+        currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+    }
+
     public void update()
     {
     }

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

@@ -0,0 +1,141 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import android.provider.Settings;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Targeting {
+    MultipleTelemetry TELE;
+
+    double cancelOffsetX = 7.071067811;
+    double cancelOffsetY = 7.071067811;
+    double unitConversionFactor = 0.95;
+
+    int tileSize = 24; //inches
+
+    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 (3000.0, 0.25);
+        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
+        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
+        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
+        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
+        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
+        // ROW 1
+        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
+        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
+        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
+        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
+        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
+        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
+        // ROW 2
+        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
+        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
+        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
+        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
+        // ROW 3
+        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
+        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
+        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
+        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
+        // ROW 4
+        KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
+        KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
+        KNOWNTARGETING[4][2] = new Settings (4542.0, 0.1);
+        KNOWNTARGETING[4][3] = new Settings (4543.0, 0.1);
+        KNOWNTARGETING[4][4] = new Settings (4544.0, 0.1);
+        KNOWNTARGETING[4][5] = new Settings (4545.0, 0.1);
+        // ROW 1
+        KNOWNTARGETING[5][0] = new Settings (4550.0, 0.1);
+        KNOWNTARGETING[5][1] = new Settings (4551.0, 0.1);
+        KNOWNTARGETING[5][2] = new Settings (4552.0, 0.1);
+        KNOWNTARGETING[5][3] = new Settings (4553.0, 0.1);
+        KNOWNTARGETING[5][4] = new Settings (4554.0, 0.1);
+        KNOWNTARGETING[5][5] = new Settings (4555.0, 0.1);
+    }
+
+    public Targeting()
+    {
+    }
+
+    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
+        Settings recommendedSettings = new Settings(0.0, 0.0);
+
+        double cos45 = Math.cos(Math.toRadians(-45));
+        double sin45 = Math.sin(Math.toRadians(-45));
+        double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
+        double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
+
+        // Convert robot coordinates to inches
+        robotInchesX = rotatedX * unitConversionFactor;
+        robotInchesY = rotatedY * unitConversionFactor;
+
+        // Find approximate location in the grid
+        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+
+        //clamp
+        robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+        robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+
+        // basic search
+        if(!interpolate) {
+            if ((robotGridY < 6) && (robotGridX <6)) {
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+            }
+            return recommendedSettings;
+        } else {
+
+            // bilinear interpolation
+            int x0 = robotGridX;
+            int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            int y0 = gridY;
+            int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+
+            double x = (robotInchesX - (x0 * tileSize)) / tileSize;
+            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
+
+            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
+            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
+            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
+            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
+
+            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
+            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
+            double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
+            double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
+
+            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;
+
+            return recommendedSettings;
+        }
+    }
+}

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

@@ -0,0 +1,247 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+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 cameraBearingEqual = 1;
+    public static double errorLearningRate = -0.15;
+    public static double turrMin = 0.2;
+    public static double turrMax = 0.8;
+    public static double mult = 0.0;
+
+    public static double staticOffsetRate = -0.15;
+    public static double deltaAngleThreshold = 0.02;
+    public static double angleMultiplier = 0.0;
+
+    public static double fastSeekThreshold = 5.0;      // Switch to medium mode below this
+    public static double mediumSeekThreshold = 2.0;    // Switch to fine mode below this
+    public static double fastCorrectionGain = 0.75;    // Correction gain for large errors
+    public static double mediumCorrectionGain = 0.4;   // Correction gain for medium errors
+    public static double fineCorrectionGain = 0.2;     // Correction gain for small errors
+    public static double maxOffsetChangePerCycle = 0.3; // Max offset change per cycle (degrees)
+    public static double finalInterpolation = 0.1;     // Final position interpolation factor
+
+
+    // TODO: tune these values for limelight
+
+    public static double clampTolerance = 0.03;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Limelight3A webcam;
+
+    double tx = 0.0;
+    double ty = 0.0;
+    double limelightPosX = 0.0;
+    double limelightPosY = 0.0;
+    private boolean lockOffset = false;
+    private int obeliskID = 0;
+
+    private double offset = 0.0;
+
+    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
+        this.TELE = tele;
+        this.robot = rob;
+        this.webcam = cam;
+        webcam.start();
+        if (redAlliance) {
+            webcam.pipelineSwitch(3);
+        } else {
+            webcam.pipelineSwitch(2);
+        }
+    }
+
+    public void zeroTurretEncoder() {
+        robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
+
+    }
+
+    public void manualSetTurret(double pos) {
+        robot.turr1.setPosition(pos);
+        robot.turr2.setPosition(1 - pos);
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
+    }
+
+    private void limelightRead() { // only for tracking purposes, not general reads
+        if (redAlliance) {
+            webcam.pipelineSwitch(3);
+        } else {
+            webcam.pipelineSwitch(2);
+        }
+
+        LLResult result = webcam.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                tx = result.getTx();
+                ty = result.getTy();
+                // MegaTag1 code for receiving position
+                Pose3D botpose = result.getBotpose();
+                if (botpose != null) {
+                    limelightPosX = botpose.getPosition().x;
+                    limelightPosY = botpose.getPosition().y;
+                }
+
+            }
+        }
+    }
+
+    public double getBearing() {
+        tx = 1000;
+        limelightRead();
+        return tx;
+    }
+
+    public double getTy() {
+        limelightRead();
+        return ty;
+    }
+
+    public double getLimelightX() {
+        limelightRead();
+        return limelightPosX;
+    }
+
+    public double getLimelightY() {
+        limelightRead();
+        return limelightPosY;
+    }
+
+    public int detectObelisk() {
+        webcam.pipelineSwitch(1);
+        LLResult result = webcam.getLatestResult();
+        if (result != null && result.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                obeliskID = fiducial.getFiducialId();
+            }
+        }
+        return obeliskID;
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+    public void zeroOffset() {
+        offset = 0.0;
+    }
+
+    public void lockOffset(boolean lock) {
+        lockOffset = lock;
+    }
+
+    /*
+        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
+     */
+
+    public void trackGoal(Pose2d deltaPos) {
+
+        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
+
+        // Angle from robot to goal in robot frame
+        double desiredTurretAngleDeg = Math.toDegrees(
+                Math.atan2(deltaPos.position.y, deltaPos.position.x)
+        );
+
+        // Robot heading (field → robot)
+        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
+
+        // 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;
+
+
+        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
+
+        double tagBearingDeg = getBearing();  // + = target is to the left
+        boolean hasValidTarget = (tagBearingDeg != 1000.0);
+
+        // Apply persistent offset from previous corrections
+        turretAngleDeg += offset;
+
+        // Active correction if we see the target
+        if (hasValidTarget && !lockOffset) {
+            double bearingError = Math.abs(tagBearingDeg);
+
+            if (bearingError > cameraBearingEqual) {
+                // Dual-mode correction: fast when far, gentle when close
+                double correctionGain;
+                if (bearingError > fastSeekThreshold) {
+                    correctionGain = fastCorrectionGain;
+                } else if (bearingError > mediumSeekThreshold) {
+                    correctionGain = mediumCorrectionGain;
+                } else {
+                    correctionGain = fineCorrectionGain;
+                }
+
+                // Immediate correction to turret angle
+                turretAngleDeg -= tagBearingDeg * correctionGain;
+
+                // Learn offset slowly for persistent calibration
+                double offsetChange = -tagBearingDeg * errorLearningRate;
+                // Rate limit to prevent oscillation
+                offsetChange = Math.max(-maxOffsetChangePerCycle, Math.min(offsetChange, maxOffsetChangePerCycle));
+                offset += offsetChange;
+
+                TELE.addData("Correction Mode", bearingError > fastSeekThreshold ? "FAST" :
+                        bearingError > mediumSeekThreshold ? "MEDIUM" : "FINE");
+            }
+        }
+
+
+        /* ---------------- 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 = currentPos + (targetTurretPos - currentPos) * finalInterpolation;
+
+        // Set servo positions
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1.0 - turretPos);
+
+
+        /* ---------------- TELEMETRY ---------------- */
+
+        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
+        TELE.addData("Target Pos", "%.3f", targetTurretPos);
+        TELE.addData("Current Pos", "%.3f", currentPos);
+        TELE.addData("Commanded Pos", "%.3f", turretPos);
+        TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+        TELE.addData("Learned Offset", "%.2f", offset);
+    }
+
+}