For Daniel

# 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

@@ -5,11 +5,11 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.39;
+    public static double spindexer_intakePos1 = 0.18;
 
-    public static double spindexer_intakePos2 = 0.55;//0.5;
+    public static double spindexer_intakePos2 = 0.36;//0.5;
 
-    public static double spindexer_intakePos3 = 0.71;//0.66;
+    public static double spindexer_intakePos3 = 0.54;//0.66;
 
     public static double spindexer_outtakeBall3 = 0.47;
 
@@ -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 +19,7 @@ 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.limelightvision.Limelight3A;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -33,6 +31,8 @@ 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 +382,24 @@ 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 +421,39 @@ 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);
@@ -659,7 +632,6 @@ public class TeleopV3 extends LinearOpMode {
                 }
             }
 
-
 //
 //            if (shootAll) {
 //
@@ -842,19 +814,33 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
             TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velo1", flywheel.velo1);
+            TELE.addData("Velo2", flywheel.velo2);
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
+            // 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/LimelightTest.java

@@ -4,32 +4,35 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import java.util.List;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
 @Config
 @TeleOp
 //TODO: fix to get the apriltag that it is reading
 public class LimelightTest extends LinearOpMode {
     MultipleTelemetry TELE;
+    Turret turret;
+    Robot robot;
     public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
     public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
+    public static boolean turretMode = false;
+    public static double turretPos = 0.501;
     @Override
     public void runOpMode() throws InterruptedException {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        limelight.pipelineSwitch(pipeline);
+        robot = new Robot(hardwareMap);
+        turret = new Turret(robot, TELE, robot.limelight);
+        robot.limelight.pipelineSwitch(pipeline);
         waitForStart();
         if (isStopRequested()) return;
-        limelight.start();
         while (opModeIsActive()){
             if (mode == 0){
-                limelight.pipelineSwitch(pipeline);
+                robot.limelight.pipelineSwitch(pipeline);
-                LLResult result = limelight.getLatestResult();
+                LLResult result = robot.limelight.getLatestResult();
                 if (result != null) {
                     if (result.isValid()) {
                         TELE.addData("tx", result.getTx());
@@ -38,40 +41,29 @@ public class LimelightTest extends LinearOpMode {
                     }
                 }
             } else if (mode == 1){
-                limelight.pipelineSwitch(1);
+                int obeliskID = turret.detectObelisk();
-                LLResult result = limelight.getLatestResult();
+                TELE.addData("Limelight ID", obeliskID);
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        int id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
                 TELE.update();
+            } else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
+                double tx = turret.getBearing();
+                double ty = turret.getTy();
+                double x = turret.getLimelightX();
+                double y = turret.getLimelightY();
+                TELE.addData("tx", tx);
+                TELE.addData("ty", ty);
+                TELE.addData("x", x);
+                TELE.addData("y", y);
+                TELE.update();
+            } else {
+                robot.limelight.pipelineSwitch(0);
+            }
+
+            if (turretMode){
+                if (turretPos != 0.501){
+                    turret.manualSetTurret(turretPos);
+                }
             }
 
         }
-            } else if (mode == 2){
-                limelight.pipelineSwitch(4);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else if (mode == 3){
-                limelight.pipelineSwitch(5);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else {
-                limelight.pipelineSwitch(0);
-            }
-        }
     }
 }

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 +1,8 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+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 com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -11,28 +13,40 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
 
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
 
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-
+    public static int mode = 1;
-    public static int mode = 0;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
     public static double Velocity = 0.0;
-    public static double P = 40.0;
+    public static double P = 255.0;
-    public static double I = 0.3;
+    public static double I = 0.0;
-    public static double D = 7.0;
+    public static double D = 0.0;
-    public static double F = 10.0;
+    public static double F = 7.5;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
+
+    public static boolean intake = false;
     Robot robot;
     Flywheel flywheel;
 
+    double shootStamp = 0.0;
+    boolean shootAll = false;
+
+    public double spinPow = 0.09;
+
+    public static boolean enableHoodAutoOpen = false;
+    public double hoodAdjust = 0.0;
+    public static double hoodAdjustFactor = 1.0;
+    Spindexer spindexer ;
+
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -40,6 +54,7 @@ public class ShooterTest extends LinearOpMode {
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
         flywheel = new Flywheel(hardwareMap);
+        spindexer = new Spindexer(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -55,21 +70,65 @@ 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);
             }
 
             if (hoodPos != 0.501) {
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                } else {
                     robot.hood.setPosition(hoodPos);
                 }
+            }
+
+            if (intake) {
+                robot.intake.setPower(1);
+
+            } else {
+                robot.intake.setPower(0);
+            }
 
 
-            robot.transfer.setPower(transferPower);
             if (shoot) {
+                shootStamp = getRuntime();
+                shootAll = true;
+                shoot = false;
+                robot.transfer.setPower(transferPower);
+            }
+            if (shootAll) {
+
+                //intake = false;
+                //reject = false;
+
+                // TODO: Change starting position based on desired order to shoot green ball
+                //spindexPos = spindexer_intakePos1;
+
+                if (getRuntime() - shootStamp < 3.5) {
+
                     robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+
                 } else {
                     robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.transfer.setPower(0);
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
                 }
+            } else {
+                spindexer.processIntake();
+            }
+
             TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());

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

@@ -0,0 +1,50 @@
+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.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@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());
+            TELE.addData("Limelight tx", turret.getBearing());
+            TELE.addData("Limelight ty", turret.getTy());
+            TELE.addData("Limelight X", turret.getLimelightX());
+            TELE.addData("Limelight Y", turret.getLimelightY());
+
+            if(zeroTurr){
+                turret.zeroTurretEncoder();
+            }
+
+            TELE.update();
+        }
+
+    }
+}

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

@@ -1,30 +1,25 @@
 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;
+    public double velo1 = 0.0;
-    double velo2 = 0.0;
+    public double velo2 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
     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 () {
@@ -43,14 +38,14 @@ public class Flywheel {
 
     // Set the robot PIDF for the next cycle.
     public void setPIDF(double p, double i, double d, double f) {
-        robot.shooterPIDF.p = p;
+        shooterPIDF1.p = p;
-        robot.shooterPIDF.i = i;
+        shooterPIDF1.i = i;
-        robot.shooterPIDF.d = d;
+        shooterPIDF1.d = d;
-        robot.shooterPIDF.f = f;
+        shooterPIDF1.f = f;
-    }
+        shooterPIDF2.p = p;
-    private double getTimeSeconds ()
+        shooterPIDF2.i = i;
-    {
+        shooterPIDF2.d = d;
-        return (double) System.currentTimeMillis()/1000.0;
+        shooterPIDF2.f = f;
     }
 
     // Convert from RPM to Ticks per Second
@@ -62,19 +57,16 @@ 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.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
-        //robot.shooterPIDF.d = D;
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
-        //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.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;
@@ -25,12 +29,11 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
+    public double shooterPIDF_P = 255.0;
-    public double shooterPIDF_I = 0.6;
+    public double shooterPIDF_I = 0.0;
-    public double shooterPIDF_D = 5.0;
+    public double shooterPIDF_D = 0.0;
-    public double shooterPIDF_F = 10.0;
+    public double shooterPIDF_F = 7.5;
-
+    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
-    public 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

@@ -8,7 +8,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Servos {
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
     public static double spin_scalar = 1.0086;
     public static double spin_restPos = 0.0;
@@ -40,21 +40,19 @@ public class Servos {
     }
 
     public boolean spinEqual(double pos) {
-        return Math.abs(pos - this.getSpinPos()) < 0.02;
+        return Math.abs(pos - this.getSpinPos()) < 0.03;
     }
 
     public double getTurrPos() {
-        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;
@@ -153,6 +160,7 @@ 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 +175,26 @@ 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
+            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 +266,34 @@ 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();
+                    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 +331,7 @@ public class Spindexer {
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
+                    commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -311,7 +342,7 @@ 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 +351,7 @@ 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 +360,28 @@ 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 +410,6 @@ 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 +421,7 @@ 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 +437,55 @@ 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 = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
+    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 (2300.0, 0.93);
+        KNOWNTARGETING[0][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][2] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[0][3] = new Settings (2800.0, 0.68);
+        KNOWNTARGETING[0][4] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings (3000.0, 0.58);
+        // ROW 1
+        KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78);
+        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
+        // ROW 2
+        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
+        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
+        // ROW 3
+        KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][2] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][3] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
+        // ROW 4
+        KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
+        KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
+        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 + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * 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[robotGridX][robotGridY].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
+            }
+            return recommendedSettings;
+        } else {
+
+            // bilinear interpolation
+            int x0 = robotGridX;
+            int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            int 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 +1,243 @@
+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 turrMin = 0.15;
+    public static double turrMax = 0.85;
+
+    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+    public static double cameraBearingEqual = 0.5;      // Deadband
+
+    // TODO: tune these values for limelight
+
+    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;
+
+    private double permanentOffset = 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);
+
+        turretAngleDeg += permanentOffset;
+
+        // Active correction if we see the target
+        if (hasValidTarget && !lockOffset) {
+            double bearingError = Math.abs(tagBearingDeg);
+
+            if (bearingError > cameraBearingEqual) {
+                // Apply sqrt scaling to reduce aggressive corrections at large errors
+                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
+
+                // Calculate correction
+                double offsetChange = visionCorrectionGain * filteredBearing;
+
+                // Limit rate of change to prevent jumps
+                offsetChange = Math.max(-maxOffsetChangePerCycle,
+                        Math.min(maxOffsetChangePerCycle, offsetChange));
+
+                // Accumulate the correction
+                offset += offsetChange;
+
+                TELE.addData("Bearing Error", tagBearingDeg);
+                TELE.addData("Offset Change", offsetChange);
+                TELE.addData("Total Offset", offset);
+            } else {
+                // When centered, lock in the learned offset
+                permanentOffset = offset;
+                offset = 0.0;
+            }
+        }
+
+// Apply accumulated offset
+        turretAngleDeg += offset;
+
+
+        /* ---------------- ANGLE → SERVO POSITION ---------------- */
+
+        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to physical servo limits
+        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
+
+        // Interpolate towards target position
+        double currentPos = getTurrPos();
+        double turretPos = targetTurretPos;
+
+        if (targetTurretPos == turrMin) {
+            turretPos = turrMin;
+        } else if (targetTurretPos == turrMax) {
+            turretPos = turrMax;
+        }
+
+        // Set servo positions
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1.0 - turretPos);
+
+
+        /* ---------------- TELEMETRY ---------------- */
+
+        TELE.addData("Turret Angle (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);
+    }
+
+}

build.gradle

@@ -25,5 +25,9 @@ allprojects {
 }
 
 repositories {
+    repositories {
         mavenCentral()
+        google()
+        maven { url 'https://maven.pedropathing.com' }
+    }
 }