Merge remote-tracking branch 'origin/Targeting' into Targeting

Feature/interpolation

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/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/teleop/TeleopV3.java

@@ -33,6 +33,7 @@ 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 java.util.ArrayList;
 import java.util.List;
@@ -49,10 +50,14 @@ public class TeleopV3 extends LinearOpMode {
     public static double spindexPos = spindexer_intakePos1;
     public static double spinPow = 0.09;
     public static double bMult = 1, bDiv = 2200;
+    public static double limelightKp = 0.001; // Proportional gain for limelight auto-aim
+    public static double limelightDeadband = 0.5; // Ignore tx values smaller than this
     public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
     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 +77,8 @@ 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 +123,7 @@ public class TeleopV3 extends LinearOpMode {
     private double transferStamp = 0.0;
     private int tickerA = 1;
     private boolean transferIn = false;
+    boolean turretInterpolate = true;
 
     public static double velPrediction(double distance) {
         if (distance < 30) {
@@ -146,18 +154,20 @@ 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.pipelineSwitch(3);
-        } else {
-            robot.limelight.pipelineSwitch(2);
-        }
-
-        robot.limelight.start();
+//        robot.limelight.start();
 
         waitForStart();
         if (isStopRequested()) return;
@@ -402,13 +412,14 @@ public class TeleopV3 extends LinearOpMode {
                 pos = 0.83;
             }
 
-            //SHOOTER:
 
-            flywheel.manageFlywheel(vel);
+            targetingSettings = targeting.calculateSettings
+                    (robotX,robotY,robotHeading,0.0, turretInterpolate);
 
             //VELOCITY AUTOMATIC
-
-            if (autoVel) {
+            if (targetingVel) {
+                vel = targetingSettings.flywheelRPM;
+            } else if (autoVel) {
                 vel = velPrediction(distanceToGoal);
             } else {
                 vel = manualVel;
@@ -430,48 +441,105 @@ public class TeleopV3 extends LinearOpMode {
                 manualVel = 3100;
             }
 
+            //SHOOTER:
+            flywheel.manageFlywheel(vel);
+
             //TODO: test the camera teleop code
 
+            // TODO: TEST THIS 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;
-
             LLResult result = robot.limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        bearing = result.getTx() * bMult;
+            boolean limelightActive = false;
             
-                        double bearingCorrection = bearing / bDiv;
+            double turretMin = 0.13;
+            double turretMax = 0.83;
             
-                        error += bearingCorrection;
+            if (result != null && result.isValid()) {
+                double tx = result.getTx();
+                double ty = result.getTy();
+                
+                if (Math.abs(tx) > limelightDeadband) {
+                    limelightActive = true;
+                    overrideTurr = true;
+                    
+                    double currentTurretPos = servo.getTurrPos();
+                    
+                    // + tx means tag is right, so rotate right
+                    double adjustment = -tx * limelightKp;
+                    
+                    // calculate new position
+                    double newTurretPos = currentTurretPos + adjustment;
+                    
+                    if (newTurretPos < turretMin) {
+                        double forwardDist = turretMin - newTurretPos;
+                        double backwardDist = (currentTurretPos - turretMin) + (turretMax - newTurretPos);
+                        // check path distance
+                        if (backwardDist < forwardDist && backwardDist < (turretMax - turretMin) / 2) {
+                            newTurretPos = turretMax - (turretMin - newTurretPos);
+                        } else {
+                            newTurretPos = turretMin;
+                        }
+                    } else if (newTurretPos > turretMax) {
+                        double forwardDist = newTurretPos - turretMax;
+                        double backwardDist = (turretMax - currentTurretPos) + (newTurretPos - turretMin);
+                        if (backwardDist < forwardDist && backwardDist < (turretMax - turretMin) / 2) {
+                            newTurretPos = turretMin + (newTurretPos - turretMax);
+                        } else {
+                            newTurretPos = turretMax;
+                        }
+                    }
+                    
+                    // Final clamp 
+                    if (newTurretPos < turretMin) {
+                        newTurretPos = turretMin;
+                    } else if (newTurretPos > turretMax) {
+                        newTurretPos = turretMax;
+                    }
+                    
+                    pos = newTurretPos;
+                    turretPos = pos;
                     
                     camTicker++;
-                        TELE.addData("tx", bearingCorrection);
-                        TELE.addData("ty", result.getTy());
+                    TELE.addData("tx", tx);
+                    TELE.addData("ty", ty);
+                    TELE.addData("limelightAdjustment", adjustment);
+                    TELE.addData("limelightActive", true);
+                } else {
+                    limelightActive = true;
+                    overrideTurr = true;
+                    TELE.addData("tx", tx);
+                    TELE.addData("ty", ty);
+                    TELE.addData("limelightActive", true);
+                    TELE.addData("limelightStatus", "Centered");
                 }
-                }
-
+            } else {
+                if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) {
+                    TELE.addData("limelightActive", false);
+                    TELE.addData("limelightStatus", "No target");
                 } else {
                     camTicker = 0;
                     overrideTurr = false;
+                    limelightActive = false;
+                }
             }
 
-            if (!overrideTurr) {
+            if (!limelightActive && !overrideTurr) {
                 turretPos = pos;
             }
 
             TELE.addData("posS3", turretPos);
 
-            if (manualTurret) {
+            if (manualTurret && !limelightActive) {
                 pos = turrDefault + (manualOffset / 100) + error;
             }
 
-            if (!overrideTurr) {
+            if (!overrideTurr && !limelightActive) {
                 turretPos = pos;
             }
 
-            if (Math.abs(gamepad2.left_stick_x)>0.2) {
+            if (Math.abs(gamepad2.left_stick_x)>0.2 && !limelightActive) {
                 manualOffset += 1.35 * gamepad2.left_stick_x;
             }
 
@@ -480,7 +548,9 @@ public class TeleopV3 extends LinearOpMode {
 
             //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);
@@ -845,16 +915,28 @@ 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("distanceFrontDriver", spindexer.distanceFrontDriver);
-            TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
+            //TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
+            //TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
+            //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/TurretTest.java

@@ -0,0 +1,67 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.goalPose;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.Vector2d;
+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 {
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot robot = new Robot(hardwareMap);
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        AprilTagWebcam webcam = new AprilTagWebcam();
+        webcam.init(robot, TELE);
+
+        Turret turret = new Turret(robot, TELE, webcam);
+        waitForStart();
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(10, 0,0));
+
+        while(opModeIsActive()){
+
+            drive.updatePoseEstimate();
+            Pose2d robotPose = drive.localizer.getPose();
+            
+            double dx = goalPose.position.x - robotPose.position.x;
+            double dy = goalPose.position.y - robotPose.position.y;
+
+            double heading = robotPose.heading.toDouble();
+
+            // field vector -> robot frame... avoids double calculation
+            double relX =  dx * Math.cos(-heading) - dy * Math.sin(-heading);
+            double relY =  dx * Math.sin(-heading) + dy * Math.cos(-heading);
+
+            Pose2d deltaPos = new Pose2d(
+                    new Vector2d(relX, relY),
+                    robotPose.heading
+            );
+
+            
+            turret.trackGoal(deltaPos);
+            
+            TELE.addData("Robot Pose", robotPose);
+            TELE.addData("Goal Pose", goalPose);
+            TELE.addData("Delta Pos", deltaPos);
+            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;
-
-    double initPos = 0.0;
-    double stamp = 0.0;
-    double stamp1 = 0.0;
-    double ticker = 0.0;
-    double currentPos = 0.0;
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     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

@@ -71,7 +71,6 @@ public class PositionalServoProgrammer extends LinearOpMode {
             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.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 = false;
+    public static boolean usingCamera = true;
     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
@@ -77,7 +76,7 @@ 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);
         shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
@@ -89,7 +88,7 @@ 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 +117,9 @@ 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 spinPID.calculate(this.getTurrPos(), pos);
+        return 1.0;
     }
 
     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

@@ -52,7 +52,9 @@ public class Spindexer {
     }
 
     enum IntakeState {
-        UNKNOWN,
+        UNKNOWN_START,
+        UNKNOWN_MOVE,
+        UNKNOWN_DETECT,
         INTAKE,
         FINDNEXT,
         MOVING,
@@ -62,8 +64,8 @@ public class Spindexer {
         SHOOTWAIT,
     };
 
-    public IntakeState currentIntakeState = IntakeState.UNKNOWN;
-
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
+    public int unknownColorDetect = 0;
     enum BallColor {
         UNKNOWN,
         GREEN,
@@ -131,13 +133,13 @@ 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;
@@ -153,6 +155,7 @@ public class Spindexer {
             // Mark Ball Found
             newPos1Detection = true;
 
+            if (detectRearColor) {
                 // Detect which color
                 double green = robot.color1.getNormalizedColors().green;
                 double red = robot.color1.getNormalizedColors().red;
@@ -167,24 +170,26 @@ public class Spindexer {
                     ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
                 }
            }
+        }
         // Position 2
         // Find which ball position this is in the spindexer
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
         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
-//            double green = robot.color2.getNormalizedColors().green;
-//            double red = robot.color2.getNormalizedColors().red;
-//            double blue = robot.color2.getNormalizedColors().blue;
-//
-//            double gP = green / (green + red + blue);
+            if (detectFrontColor) {
+                double green = robot.color2.getNormalizedColors().green;
+                double red = robot.color2.getNormalizedColors().red;
+                double blue = robot.color2.getNormalizedColors().blue;
 
-//           if (gP >= 0.4) {
-//               b2 = 2;  // purple
-//           } else {
-//               b2 = 1;  // green
-//           }
+                double gP = green / (green + red + blue);
+
+                if (gP >= 0.4) {
+                    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 +206,19 @@ 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
-//            double green = robot.color3.getNormalizedColors().green;
-//            double red = robot.color3.getNormalizedColors().red;
-//            double blue = robot.color3.getNormalizedColors().blue;
+            if (detectFrontColor) {
+                double green = robot.color3.getNormalizedColors().green;
+                double red = robot.color3.getNormalizedColors().red;
+                double blue = robot.color3.getNormalizedColors().blue;
 
-//            double gP = green / (green + red + blue);
+                double gP = green / (green + red + blue);
 
-//           if (gP >= 0.4) {
-//               b3 = 2;  // purple
-//           } else {
-//               b3 = 1;  // green
-//           }
+                if (gP >= 0.4) {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
+                }
+            }
         } else {
             if (!ballPositions[spindexerBallPos].isEmpty) {
                 if (ballPositions[spindexerBallPos].foundEmpty > 3) {
@@ -255,15 +261,35 @@ 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 {
@@ -311,7 +337,7 @@ 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 +346,7 @@ 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;
@@ -378,7 +404,7 @@ 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]);

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
+        robotGridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+        robotGridY = 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 +1,100 @@
+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.robotcore.util.Range;
+
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Config
+public class Turret {
+
+    public static double turrDefault = 0.4;
+    public static double turretRange = 0.6;
+    public static double turrMin = 0.2;
+    public static double turrMax = 0.8;
+
+    public static double turretTolerance = 0.02;
+
+    public static double cameraBearingEqual = 1.5;
+    public static double errorLearningRate = 0.02; // must be low
+    public static double maxOffsetDeg = 30.0;
+
+    private final Robot robot;
+    private final MultipleTelemetry TELE;
+    private final AprilTagWebcam webcam;
+
+    private int obeliskID = 0;
+    private double offsetDeg = 0.0;
+
+    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
+        this.robot = rob;
+        this.TELE = tele;
+        this.webcam = cam;
+    }
+
+    public double getTurretPos() {
+        return robot.turr1Pos.getVoltage() / 3.3;
+    }
+
+    public void manualSetTurret(double pos) {
+        pos = Range.clip(pos, turrMin, turrMax);
+        robot.turr1.setPosition(pos);
+        robot.turr2.setPosition(1.0 - pos);
+    }
+
+    public boolean turretAt(double pos) {
+        return Math.abs(pos - getTurretPos()) < turretTolerance;
+    }
+
+    public double getBearingDeg() {
+        AprilTagDetection tag =
+                redAlliance ? webcam.getTagById(24) : webcam.getTagById(20);
+        return (tag != null) ? tag.ftcPose.bearing : Double.NaN;
+    }
+
+    public int detectObelisk() {
+        if (webcam.getTagById(21) != null) obeliskID = 21;
+        else if (webcam.getTagById(22) != null) obeliskID = 22;
+        else if (webcam.getTagById(23) != null) obeliskID = 23;
+        return obeliskID;
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+    public void trackGoal(Pose2d deltaPos) {
+
+        double turretAngleDeg = Math.toDegrees(
+                Math.atan2(deltaPos.position.y, deltaPos.position.x)
+        );
+
+        double bearingDeg = getBearingDeg();
+
+        if (!Double.isNaN(bearingDeg) &&
+                Math.abs(bearingDeg) < cameraBearingEqual) {
+
+            offsetDeg -= bearingDeg * errorLearningRate;
+            offsetDeg = Range.clip(offsetDeg, -maxOffsetDeg, maxOffsetDeg);
+        }
+
+        turretAngleDeg += offsetDeg;
+
+        double turretPos =
+                turrDefault + (turretAngleDeg / 180.0) * turretRange;
+
+        turretPos = Range.clip(turretPos, turrMin, turrMax);
+
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1.0 - turretPos);
+
+        TELE.addData("Turret Angle (deg)", turretAngleDeg);
+        TELE.addData("Offset (deg)", offsetDeg);
+        TELE.addData("Tag Bearing (deg)", bearingDeg);
+        TELE.addData("Turret Servo", turretPos);
+    }
+}