Create new targeting class. Fix Flywheel Error with motor2 velocity and include spindexer pos updates.

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

@@ -74,7 +74,7 @@ public class Flywheel {
 
         // 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/Targeting.java

@@ -0,0 +1,100 @@
+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 unitConversionFactor = 1.02;
+
+    int tileSize = 24; //inches
+
+    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 (4500.0, 0.1);
+        KNOWNTARGETING[0][1] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[0][2] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[0][3] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[0][4] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[0][5] = new Settings (4500.0, 0.1);
+        // ROW 1
+        KNOWNTARGETING[1][0] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[1][1] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[1][2] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[1][3] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[1][4] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[1][5] = new Settings (4500.0, 0.1);
+        // ROW 2
+        KNOWNTARGETING[2][0] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[2][1] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[2][2] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[2][3] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[2][4] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[2][5] = new Settings (4500.0, 0.1);
+        // ROW 3
+        KNOWNTARGETING[3][0] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[3][1] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[3][2] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[3][3] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[3][4] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[3][5] = new Settings (4500.0, 0.1);
+        // ROW 4
+        KNOWNTARGETING[4][0] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[4][1] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[4][2] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[4][3] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[4][4] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[4][5] = new Settings (4500.0, 0.1);
+        // ROW 1
+        KNOWNTARGETING[5][0] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[5][1] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[5][2] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[5][3] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[5][4] = new Settings (4500.0, 0.1);
+        KNOWNTARGETING[5][5] = new Settings (4500.0, 0.1);
+    }
+
+    public Targeting()
+    {
+    }
+
+    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity) {
+        Settings recommendedSettings = new Settings(0.0, 0.0);
+
+        // Convert robot coordinates to inches
+        double robotInchesX = robotX * unitConversionFactor;
+        double robotInchesY = robotY * unitConversionFactor;
+
+        // Find approximate location in the grid
+        robotGridX = Math.floorDiv((int) robotInchesX, tileSize);
+        robotGridY = Math.floorDiv((int) robotInchesY, tileSize);
+
+        // Use Grid Location to perform lookup
+        // Keep it simple for now but may want to interpolate results
+        recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
+        recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+
+        return recommendedSettings;
+    }
+}