NOT WORKING indexed auto WIP

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoClose_V3.java

@@ -133,8 +133,8 @@ public class AutoClose_V3 extends LinearOpMode {
                 robot.shooter2.setPower(powPID);
 
                 spinPID = servo.setSpinPos(spindexer);
-                robot.spin1.setPower(spinPID);
+                robot.spin1.setPosition(spinPID);
-                robot.spin2.setPower(-spinPID);
+                robot.spin2.setPosition(-spinPID);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
@@ -143,8 +143,8 @@ public class AutoClose_V3 extends LinearOpMode {
                 teleStart = drive.localizer.getPose();
 
                 if (servo.spinEqual(spindexer)){
-                    robot.spin1.setPower(0);
+                    robot.spin1.setPosition(0);
-                    robot.spin2.setPower(0);
+                    robot.spin2.setPosition(0);
                     return false;
                 } else {
                     return true;
@@ -224,8 +224,8 @@ public class AutoClose_V3 extends LinearOpMode {
 
                 if (!servo.spinEqual(position)){
                     double spinPID = servo.setSpinPos(position);
-                    robot.spin1.setPower(spinPID);
+                    robot.spin1.setPosition(spinPID);
-                    robot.spin2.setPower(-spinPID);
+                    robot.spin2.setPosition(-spinPID);
                 }
 
                 if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
@@ -259,8 +259,8 @@ public class AutoClose_V3 extends LinearOpMode {
 
                 robot.intake.setPower(1);
                 if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
-                    robot.spin1.setPower(0);
+                    robot.spin1.setPosition(0);
-                    robot.spin2.setPower(0);
+                    robot.spin2.setPosition(0);
                     if (getRuntime() - stamp - intakeTime < 1){
                         pow = -2*(getRuntime() - stamp - intakeTime);
                         return true;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoFar_V1.java

@@ -31,8 +31,7 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
 
 import java.util.List;
 
-@Config
+
-@Autonomous(preselectTeleOp = "TeleopV3")
 public class AutoFar_V1 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
@@ -133,8 +132,8 @@ public class AutoFar_V1 extends LinearOpMode {
                 robot.shooter2.setPower(powPID);
 
                 spinPID = servo.setSpinPos(spindexer);
-                robot.spin1.setPower(spinPID);
+                robot.spin1.setPosition(spinPID);
-                robot.spin2.setPower(-spinPID);
+                robot.spin2.setPosition(-spinPID);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
@@ -143,8 +142,8 @@ public class AutoFar_V1 extends LinearOpMode {
                 teleStart = drive.localizer.getPose();
 
                 if (servo.spinEqual(spindexer)){
-                    robot.spin1.setPower(0);
+                    robot.spin1.setPosition(0);
-                    robot.spin2.setPower(0);
+                    robot.spin2.setPosition(0);
                     return false;
                 } else {
                     return true;
@@ -224,8 +223,8 @@ public class AutoFar_V1 extends LinearOpMode {
 
                 if (!servo.spinEqual(position)){
                     double spinPID = servo.setSpinPos(position);
-                    robot.spin1.setPower(spinPID);
+                    robot.spin1.setPosition(spinPID);
-                    robot.spin2.setPower(-spinPID);
+                    robot.spin2.setPosition(-spinPID);
                 }
 
                 if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
@@ -259,8 +258,8 @@ public class AutoFar_V1 extends LinearOpMode {
 
                 robot.intake.setPower(1);
                 if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
-                    robot.spin1.setPower(0);
+                    robot.spin1.setPosition(0);
-                    robot.spin2.setPower(0);
+                    robot.spin2.setPosition(0);
                     if (getRuntime() - stamp - intakeTime < 1){
                         pow = -2*(getRuntime() - stamp - intakeTime);
                         return true;

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

@@ -0,0 +1,872 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bHGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShoot1Tangent;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bXGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bYGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.bx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.by2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rHGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShoot1Tangent;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rXGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rYGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.rx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.ry2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_LT_Indexed.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+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;
+
+@Autonomous(preselectTeleOp = "TeleopV3")
+@Config
+public class Auto_LT_Indexed extends LinearOpMode {
+
+    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
+    public static double autoSpinStartPos = 0.2;
+    public static double shoot0SpinSpeedIncrease = 0.014;
+
+    public static double spindexerSpeedIncrease = 0.02;
+
+    public static double obeliskTurrPos = 0.53;
+    public static double gatePickupTime = 3.0;
+    public static double shoot1Turr = 0.57;
+    public static double shoot0XTolerance = 1.0;
+    public static double turretShootPos = 0.72;
+    public static double shootAllTime = 1.8;
+    public static double shoot0Time = 1.6;
+    public static double intake1Time = 3.0;
+    public static double flywheel0Time = 3.5;
+    public static double pickup1Speed = 20.0;
+    public static double pickup2Speed = 20.0;
+    public static double pickup3Speed = 20.0;
+
+    // ---- SECOND SHOT / PICKUP ----
+    public static double shoot1Vel = 2300;
+    public static double shoot1Hood = 0.93;
+
+    public static double shootAllVelocity = 2500;
+    public static double shootAllHood = 0.78;
+    // ---- PICKUP TIMING ----
+    public static double pickup1Time = 3.0;
+    // ---- PICKUP POSITION TOLERANCES ----
+    public static double pickup1XTolerance = 2.0;
+    public static double pickup1YTolerance = 2.0;
+    // ---- OBELISK DETECTION ----
+    public static double obelisk1Time = 1.5;
+    public static double obelisk1XTolerance = 2.0;
+    public static double obelisk1YTolerance = 2.0;
+    public static double shoot1ToleranceX = 2.0;
+    public static double shoot1ToleranceY = 2.0;
+    public static double shoot1Time = 2.0;
+    public static double shootCycleTime = 2.5;
+
+    List<Boolean> s1 = new ArrayList<>();
+
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    public int motif = 0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    private double x1, y1, h1;
+
+    private double x2a, y2a, h2a, t2a;
+
+    private double x2b, y2b, h2b, t2b;
+    private double x2c, y2c, h2c, t2c;
+
+    private double xShoot, yShoot, hShoot;
+    private double xGate, yGate, hGate;
+
+    private double shoot1Tangent;
+
+    // ---- OPEN GATE / MIDFIELD ----
+    private double x3, y3, h3, t3;
+
+    // ---- PICKUP 2 ----
+    private double x4a, y4a, h4a;
+    private double x4b, y4b, h4b;
+
+    // ---- PICKUP 3 ----
+    private double x5a, y5a, h5a;
+    private double x5b, y5b, h5b;
+
+    // ---- PARK ----
+    private double xPark, yPark, hPark;
+
+    public Action prepareShootIndexed(double time) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            boolean testColor = false;
+
+            int s1Green = 0;
+            int s2Green = 0;
+            int s3Green = 0;
+
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                if ((System.currentTimeMillis() - stamp) < (goToDetectTime)) { //0.25-0.4 ish???
+                    robot.spin1.setPosition(colorDetectPos); //0.43
+                    robot.spin2.setPosition(1 - colorDetectPos);
+                } else if ((System.currentTimeMillis() - stamp) < (colorSenseTime + goToDetectTime)) {
+
+
+                    double green1 = robot.color1.getNormalizedColors().green;
+                    double red1 = robot.color1.getNormalizedColors().red;
+                    double blue1 = robot.color1.getNormalizedColors().blue;
+
+                    double gP1 = green1 / (green1 + red1 + blue1);
+
+
+                    if (gP1 >= color1Thresh) {
+                        s1Green ++;
+                    }
+
+                    double green2 = robot.color2.getNormalizedColors().green;
+                    double red2 = robot.color2.getNormalizedColors().red;
+                    double blue2 = robot.color2.getNormalizedColors().blue;
+
+                    double gP2 = green2 / (green2 + red2 + blue2);
+
+                    if (gP2 >= color2Thresh) {
+                        s2Green ++;
+                    }
+
+
+                    double green3 = robot.color3.getNormalizedColors().green;
+                    double red3 = robot.color3.getNormalizedColors().red;
+                    double blue3 = robot.color3.getNormalizedColors().blue;
+
+                    double gP3 = green3 / (green3 + red3 + blue3);
+
+                    if (gP3 >= color3Thresh) {
+                        s3Green ++;
+                    }
+
+
+                    testColor = true;
+
+
+
+                } else {
+
+                    double spindexPos;
+                    if (motif == 21) {
+                        spindexPos =
+                    }
+                }
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                turret.manualSetTurret(turretShootPos);
+
+                robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
+
+                return (System.currentTimeMillis() - stamp) < (time * 1000);
+
+            }
+        };
+    }
+
+    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = vel;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+
+            }
+        };
+    }
+
+    public Action shootAllAuto(double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = 0.0;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                robot.intake.setPower(1);
+
+                motif = turret.detectObelisk();
+
+                spindexer.ballCounterLight();
+
+                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
+
+            }
+        };
+    }
+
+    public Action detectObelisk(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance,
+            double turrPos
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                motif = turret.detectObelisk();
+
+                robot.turr1.setPosition(turrPos);
+                robot.turr2.setPosition(1 - turrPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheel(
+            double vel,
+            double hoodPos,
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                flywheel.manageFlywheel(vel);
+                robot.hood.setPosition(hoodPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageShooterAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x 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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                turret.trackGoal(deltaPose);
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheelAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x 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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        hardwareMap.get(Servo.class, "light").setPosition(0);
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        robot.limelight.pipelineSwitch(1);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        turret.manualSetTurret(0.4);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        TrajectoryActionBuilder shoot0 = null;
+
+        TrajectoryActionBuilder pickup1 = null;
+        TrajectoryActionBuilder shoot1 = null;
+        TrajectoryActionBuilder pickup2 = null;
+        TrajectoryActionBuilder shoot2 = null;
+        TrajectoryActionBuilder pickup3 = null;
+        TrajectoryActionBuilder shoot3 = null;
+        TrajectoryActionBuilder openGate = null;
+        TrajectoryActionBuilder park = null;
+
+        robot.spin1.setPosition(autoSpinStartPos);
+        robot.spin2.setPosition(1 - autoSpinStartPos);
+
+        robot.transferServo.setPosition(transferServo_out);
+
+        robot.light.setPosition(1);
+
+        while (opModeInInit()) {
+
+            robot.hood.setPosition(shoot0Hood);
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+            }
+
+            if (redAlliance) {
+                robot.light.setPosition(0.28);
+
+                // ===== FIRST SHOT =====
+                x1 = rx1;
+                y1 = ry1;
+                h1 = rh1;
+
+                // ===== PICKUP PATH =====
+                x2a = rx2a;
+                y2a = ry2a;
+                h2a = rh2a;
+                t2a = rt2a;
+
+                x2b = rx2b;
+                y2b = ry2b;
+                h2b = rh2b;
+                t2b = rt2b;
+
+                x2c = rx2c;
+                y2c = ry2c;
+                h2c = rh2c;
+                t2c = rt2c;
+
+                // ===== SHOOT POSE =====
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+                shoot1Tangent = rShoot1Tangent;
+
+                // ===== GATE =====
+                xGate = rXGate;
+                yGate = rYGate;
+                hGate = rHGate;
+
+            } else {
+                robot.light.setPosition(0.6);
+
+                // ===== FIRST SHOT =====
+                x1 = bx1;
+                y1 = by1;
+                h1 = bh1;
+
+                // ===== PICKUP PATH =====
+                x2a = bx2a;
+                y2a = by2a;
+                h2a = bh2a;
+                t2a = bt2a;
+
+                x2b = bx2b;
+                y2b = by2b;
+                h2b = bh2b;
+                t2b = bt2b;
+
+                x2c = bx2c;
+                y2c = by2c;
+                h2c = bh2c;
+                t2c = bt2c;
+
+                // ===== SHOOT POSE =====
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+                shoot1Tangent = bShoot1Tangent;
+
+                // ===== GATE =====
+                xGate = bXGate;
+                yGate = bYGate;
+                hGate = bHGate;
+            }
+
+            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+
+            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
+                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
+                            new TranslationalVelConstraint(pickup1Speed));
+
+            openGate = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
+                    .setReversed(true)
+                    .splineToConstantHeading(new Vector2d(x3, y3), t3);
+
+            shoot1 = drive.actionBuilder(new Pose2d(x3, y3, h2b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+            pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+                    .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
+                    .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
+                            new TranslationalVelConstraint(pickup2Speed));
+            shoot2 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+            pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+                    .strafeToLinearHeading(new Vector2d(x5a, y5a), h5a)
+                    .strafeToLinearHeading(new Vector2d(x5b, y5b), h5b,
+                            new TranslationalVelConstraint(pickup3Speed));
+            shoot3 = drive.actionBuilder(new Pose2d(x5b, y5b, h5b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+            park = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+                    .strafeToLinearHeading(new Vector2d(xPark, yPark), hPark);
+
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.transfer.setPower(1);
+
+            assert shoot0 != null;
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            manageFlywheel(
+                                    shoot0Vel,
+                                    shoot0Hood,
+                                    flywheel0Time,
+                                    x1,
+                                    0.501,
+                                    shoot0XTolerance,
+                                    0.501
+                            )
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
+            );
+
+            //WORKING SHOOT ALL for the preload
+
+            //Pickup first pile
+
+            Actions.runBlocking(
+                    new SequentialAction(
+                            new ParallelAction(
+                                    pickup1.build(),
+                                    manageFlywheel(
+                                            shootAllVelocity,
+                                            shootAllHood,
+                                            pickup1Time,
+                                            x2b,
+                                            y2b,
+                                            pickup1XTolerance,
+                                            pickup1YTolerance
+                                    ),
+                                    intake(intake1Time),
+                                    detectObelisk(
+                                            obelisk1Time,
+                                            x2b,
+                                            y2c,
+                                            obelisk1XTolerance,
+                                            obelisk1YTolerance,
+                                            obeliskTurrPos
+                                    )
+                            ),
+                            new ParallelAction(
+                                    openGate.build() //TODO: Add other managing stuff here
+                            )
+                    )
+
+            );
+
+            motif = turret.detectObelisk(); //Detect Obelisk if not alr
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheel(
+                                    shootAllVelocity,
+                                    shootAllHood,
+                                    shoot1Time,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot1.build(),
+                            prepareShootIndexed(shoot1Time)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllIndexed(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+            //Shoot from first pile
+
+        }
+
+    }
+}

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

@@ -0,0 +1,804 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bHGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShoot1Tangent;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bXGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bYGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rHGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShoot1Tangent;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rXGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rYGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+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;
+
+@Autonomous(preselectTeleOp = "TeleopV3")
+@Config
+public class Auto_LT_Unindexed extends LinearOpMode {
+
+    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
+    public static double autoSpinStartPos = 0.2;
+    public static double shoot0SpinSpeedIncrease = 0.014;
+
+    public static double spindexerSpeedIncrease = 0.02;
+
+    public static double obeliskTurrPos = 0.53;
+    public static double gatePickupTime = 3.0;
+    public static double shoot1Turr = 0.57;
+    public static double shoot0XTolerance = 1.0;
+    public static double turretShootPos = 0.72;
+    public static double shootAllTime = 1.8;
+    public static double shoot0Time = 1.6;
+    public static double intake1Time = 3.0;
+    public static double flywheel0Time = 3.5;
+    public static double pickup1Speed = 80.0;
+    // ---- SECOND SHOT / PICKUP ----
+    public static double shoot1Vel = 2300;
+    public static double shoot1Hood = 0.93;
+    
+    public static double shootAllVelocity = 2500;
+    public static double shootAllHood = 0.78;
+    // ---- PICKUP TIMING ----
+    public static double pickup1Time = 3.0;
+    // ---- PICKUP POSITION TOLERANCES ----
+    public static double pickup1XTolerance = 2.0;
+    public static double pickup1YTolerance = 2.0;
+    // ---- OBELISK DETECTION ----
+    public static double obelisk1Time = 1.5;
+    public static double obelisk1XTolerance = 2.0;
+    public static double obelisk1YTolerance = 2.0;
+    public static double shoot1ToleranceX = 2.0;
+    public static double shoot1ToleranceY = 2.0;
+    public static double shoot1Time = 2.0;
+    public static double shootCycleTime = 2.5;
+    public int motif = 0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    private double x1, y1, h1;
+
+    private double x2a, y2a, h2a, t2a;
+
+    private double x2b, y2b, h2b, t2b;
+    private double x2c, y2c, h2c, t2c;
+
+    private double xShoot, yShoot, hShoot;
+    private double xGate, yGate, hGate;
+
+    private double shoot1Tangent;
+
+    public Action prepareShootAll(double time) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                robot.spin1.setPosition(autoSpinStartPos);
+                robot.spin2.setPosition(1 - autoSpinStartPos);
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                turret.manualSetTurret(turretShootPos);
+
+                robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
+
+                return (System.currentTimeMillis() - stamp) < (time * 1000);
+
+            }
+        };
+    }
+
+    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = vel;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+
+            }
+        };
+    }
+
+    public Action shootAllAuto(double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = 0.0;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                robot.intake.setPower(1);
+
+                motif = turret.detectObelisk();
+                
+                spindexer.ballCounterLight();
+
+                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
+
+            }
+        };
+    }
+
+    public Action detectObelisk(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance,
+            double turrPos
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                motif = turret.detectObelisk();
+
+                robot.turr1.setPosition(turrPos);
+                robot.turr2.setPosition(1 - turrPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheel(
+            double vel,
+            double hoodPos,
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                flywheel.manageFlywheel(vel);
+                robot.hood.setPosition(hoodPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageShooterAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x 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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                turret.trackGoal(deltaPose);
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheelAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x 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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        hardwareMap.get(Servo.class, "light").setPosition(0);
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        robot.limelight.pipelineSwitch(1);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        turret.manualSetTurret(0.4);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        TrajectoryActionBuilder shoot0 = null;
+        TrajectoryActionBuilder pickup1 = null;
+        TrajectoryActionBuilder shoot1 = null;
+        TrajectoryActionBuilder gatePickup = null;
+        TrajectoryActionBuilder shootCycle = null;
+
+        robot.spin1.setPosition(autoSpinStartPos);
+        robot.spin2.setPosition(1 - autoSpinStartPos);
+
+        robot.transferServo.setPosition(transferServo_out);
+
+        robot.light.setPosition(1);
+
+        while (opModeInInit()) {
+
+            robot.hood.setPosition(shoot0Hood);
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+            }
+
+            if (redAlliance) {
+                robot.light.setPosition(0.28);
+
+                // ---- FIRST SHOT ----
+                x1 = rx1;
+                y1 = ry1;
+                h1 = rh1;
+
+                // ---- PICKUP PATH ----
+                x2a = rx2a;
+                y2a = ry2a;
+                h2a = rh2a;
+                t2a = rt2a;
+                x2b = rx2b;
+                y2b = ry2b;
+                h2b = rh2b;
+                t2b = rt2b;
+                x2c = rx2c;
+                y2c = ry2c;
+                h2c = rh2c;
+                t2c = rt2c;
+
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+                shoot1Tangent = rShoot1Tangent;
+                
+                xGate = rXGate;
+                yGate = rYGate;
+                hGate = rHGate;
+                
+
+            } else {
+                robot.light.setPosition(0.6);
+
+                // ---- FIRST SHOT ----
+                x1 = bx1;
+                y1 = by1;
+                h1 = bh1;
+
+                // ---- PICKUP PATH ----
+                x2a = bx2a;
+                y2a = by2a;
+                h2a = bh2a;
+                t2a = bt2a;
+                x2b = bx2b;
+                y2b = by2b;
+                h2b = bh2b;
+                t2b = bt2b;
+                x2c = bx2c;
+                y2c = by2c;
+                h2c = bh2c;
+                t2c = bt2c;
+
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+
+                shoot1Tangent = bShoot1Tangent;
+
+                xGate = bXGate;
+                yGate = bYGate;
+                hGate = bHGate;
+            }
+
+            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+
+            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
+                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
+                            new TranslationalVelConstraint(pickup1Speed));
+            shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
+                    .setReversed(true)
+                    .splineTo(new Vector2d(x2a, y2a), shoot1Tangent)
+                    .splineToSplineHeading(new Pose2d(xShoot, yShoot, hShoot), shoot1Tangent);
+            
+            gatePickup = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+                    .strafeToLinearHeading(new Vector2d(xGate, yGate), hGate);
+
+            shootCycle = drive.actionBuilder(new Pose2d(xGate, yGate, hGate))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.transfer.setPower(1);
+
+            assert shoot0 != null;
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            manageFlywheel(
+                                    shoot0Vel,
+                                    shoot0Hood,
+                                    flywheel0Time,
+                                    x1,
+                                    0.501,
+                                    shoot0XTolerance,
+                                    0.501
+                            )
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            manageFlywheel(
+                                    shootAllVelocity, 
+                                    shootAllHood,
+                                    pickup1Time,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(intake1Time),
+                            detectObelisk(
+                                    obelisk1Time,
+                                    x2b,
+                                    y2c,
+                                    obelisk1XTolerance,
+                                    obelisk1YTolerance,
+                                    obeliskTurrPos
+                            )
+                    )
+            );
+
+            motif = turret.detectObelisk();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheel(
+                                    shootAllVelocity, 
+                                    shootAllHood,
+                                    shoot1Time,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot1.build(),
+                            prepareShootAll(shoot1Time)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+            while (opModeIsActive()) {
+
+                Actions.runBlocking(
+                        new ParallelAction(
+                                gatePickup.build(),
+                                manageShooterAuto(
+                                        gatePickupTime,
+                                        x2b,
+                                        y2b,
+                                        pickup1XTolerance,
+                                        pickup1YTolerance
+                                ),
+                                intake(gatePickupTime)
+
+                        )
+                );
+
+                Actions.runBlocking(
+                        new ParallelAction(
+                                manageFlywheelAuto(
+                                        shootCycleTime,
+                                        0.501,
+                                        0.501,
+                                        0.501,
+                                        0.501
+                                ),
+                                shootCycle.build(),
+                                prepareShootAll(shootCycleTime)
+                        )
+                );
+
+                Actions.runBlocking(
+                        new ParallelAction(
+                                manageShooterAuto(
+                                        shootAllTime,
+                                        0.501,
+                                        0.501,
+                                        0.501,
+                                        0.501
+                                ),
+                                shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                        )
+
+                );
+
+            }
+
+
+        }
+
+    }
+}

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

@@ -182,8 +182,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 velo = flywheel.getVelo();
 
                 spinPID = servo.setSpinPos(spindexer);
-                robot.spin1.setPower(spinPID);
+                robot.spin1.setPosition(spinPID);
-                robot.spin2.setPower(-spinPID);
+                robot.spin2.setPosition(-spinPID);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
@@ -192,8 +192,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 teleStart = drive.localizer.getPose();
 
                 if (servo.spinEqual(spindexer)) {
-                    robot.spin1.setPower(0);
+                    robot.spin1.setPosition(0);
-                    robot.spin2.setPower(0);
+                    robot.spin2.setPosition(0);
 
                     return false;
                 } else {
@@ -203,6 +203,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
         };
     }
 
+
     public Action Shoot(int vel) {
         return new Action() {
             int ticker = 1;
@@ -240,8 +241,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                     robot.transferServo.setPosition(transferServo_in);
 
-                    robot.spin1.setPower(-spinPow);
+                    robot.spin1.setPosition(-spinPow);
-                    robot.spin2.setPower(spinPow);
+                    robot.spin2.setPosition(spinPow);
                     return true;
 
                 } else {
@@ -271,12 +272,12 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 if (ticker % 12 < 6) {
 
-                    robot.spin1.setPower(-1);
+                    robot.spin1.setPosition(-1);
-                    robot.spin2.setPower(1);
+                    robot.spin2.setPosition(1);
 
                 } else {
-                    robot.spin1.setPower(1);
+                    robot.spin1.setPosition(1);
-                    robot.spin2.setPower(-1);
+                    robot.spin2.setPosition(-1);
                 }
 
                 if (getRuntime() - stamp > jamTime+0.4) {
@@ -317,20 +318,20 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 if (ticker % 60 < 12) {
 
-                    robot.spin1.setPower(-1);
+                    robot.spin1.setPosition(-1);
-                    robot.spin2.setPower(1);
+                    robot.spin2.setPosition(1);
 
                 } else if (ticker % 60 < 30) {
-                    robot.spin1.setPower(-0.5);
+                    robot.spin1.setPosition(-0.5);
-                    robot.spin2.setPower(0.5);
+                    robot.spin2.setPosition(0.5);
                 }
                 else if (ticker % 60 < 42) {
-                    robot.spin1.setPower(1);
+                    robot.spin1.setPosition(1);
-                    robot.spin2.setPower(-1);
+                    robot.spin2.setPosition(-1);
                 }
                 else {
-                    robot.spin1.setPower(0.5);
+                    robot.spin1.setPosition(0.5);
-                    robot.spin2.setPower(-0.5);
+                    robot.spin2.setPosition(-0.5);
                 }
                 robot.intake.setPower(1);
                 TELE.addData("Reverse?", reverse);
@@ -338,11 +339,11 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 if (getRuntime() - stamp > intakeTime) {
                     if (reverse) {
-                        robot.spin1.setPower(-1);
+                        robot.spin1.setPosition(-1);
-                        robot.spin2.setPower(1);
+                        robot.spin2.setPosition(1);
                     } else {
-                        robot.spin1.setPower(1);
+                        robot.spin1.setPosition(1);
-                        robot.spin2.setPower(-1);
+                        robot.spin2.setPosition(-1);
                     }
                     return false;
                 } else {

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

@@ -2,4 +2,5 @@ package org.firstinspires.ftc.teamcode.constants;
 
 public class Color {
     public static boolean redAlliance = true;
+    public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
 }

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

@@ -0,0 +1,86 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses_LT_Indexed {
+
+    // ================= FIELD / GOAL =================
+    public static double goalHeight = 42; // inches
+    public static double turretHeight = 12;
+    public static double relativeGoalHeight = goalHeight - turretHeight;
+
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
+
+    // =================================================
+    // ================= RED ALLIANCE ==================
+    // =================================================
+
+    // -------- FIRST SHOT --------
+    public static double rx1 = 20, ry1 = 0, rh1 = 0;
+
+    // -------- PICKUP 1 --------
+    public static double rx2a = 55, ry2a = 39, rh2a = Math.toRadians(140), rt2a = Math.toRadians(Math.PI / 2);
+    public static double rx2b = 33, ry2b = 61, rh2b = Math.toRadians(140), rt2b = Math.toRadians(Math.PI / 2);
+    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140), rt2c = Math.toRadians(Math.PI / 2);
+
+    // -------- OPEN GATE --------
+    public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
+
+    // -------- PICKUP 2 --------
+    public static double rx3 = 0, ry3 = 0, rh3 = 0, rt3 = 0;
+
+    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
+    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
+
+    // -------- PICKUP 3 --------
+    public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
+    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
+
+    public static double rx5a = 0, ry5a = 0, rh5a = 0;
+    public static double rx5b = 0, ry5b = 0, rh5b = 0;
+
+    // -------- SHOOT --------
+    public static double rShootX = 40, rShootY = 7, rShootH = Math.toRadians(140);
+    public static double rShoot1Tangent = Math.toRadians(0);
+
+    // -------- PARK --------
+    public static double rXPark = 0, rYPark = 0, rHPark = 0;
+
+    // =================================================
+    // ================= BLUE ALLIANCE =================
+    // =================================================
+
+    // -------- FIRST SHOT --------
+    public static double bx1 = 20, by1 = 0, bh1 = 0;
+
+    // -------- PICKUP 1 --------
+    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140), bt2a = Math.toRadians(140);
+    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140), bt2b = Math.toRadians(140);
+    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140), bt2c = Math.toRadians(140);
+
+    // -------- OPEN GATE --------
+    public static double bXGate = 25, bYGate = 69, bHGate = Math.toRadians(165);
+
+    // -------- PICKUP 2 --------
+    public static double bx3 = 0, by3 = 0, bh3 = 0, bt3 = 0;
+
+    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
+    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
+
+    // -------- PICKUP 3 --------
+    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
+    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
+
+    public static double bx5a = 0, by5a = 0, bh5a = 0;
+    public static double bx5b = 0, by5b = 0, bh5b = 0;
+
+    // -------- SHOOT --------
+    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
+    public static double bShoot1Tangent = Math.toRadians(0);
+
+    // -------- PARK --------
+    public static double bXPark = 0, bYPark = 0, bHPark = 0;
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java

@@ -0,0 +1,56 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses_V2 {
+
+    public static double goalHeight = 42; //in inches
+
+    public static double turretHeight = 12;
+
+    public static double relativeGoalHeight = goalHeight - turretHeight;
+
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
+
+    public static double rx1 = 20, ry1 = 0, rh1 = 0;
+    public static double rx2a = 55, ry2a = 39, rh2a = Math.toRadians(140), rt2a  = Math.toRadians(Math.PI/2);
+    public static double rx2b = 33, ry2b = 61, rh2b = Math.toRadians(140), rt2b  = Math.toRadians(Math.PI/2);
+
+    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140), rt2c  = Math.toRadians(Math.PI/2);
+
+    public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
+
+    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
+    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
+
+    public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
+    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
+
+    public static double bx1 = 20, by1 = 0, bh1 = 0;
+    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140), bt2a  = Math.toRadians(140);
+    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140), bt2b  = Math.toRadians(140);
+    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140), bt2c  = Math.toRadians(140);
+
+    public static double rShootX = 40, rShootY = 7, rShootH = Math.toRadians(140);
+
+    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
+    public static double bXGate = 25, bYGate = 69, bHGate = Math.toRadians(165);
+
+
+    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
+    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
+
+    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
+    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 double rShoot1Tangent = Math.toRadians(0);
+    public static double bShoot1Tangent = Math.toRadians(0);
+
+
+
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
+
+}

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

@@ -5,16 +5,18 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.18;
+    public static double spindexer_intakePos1 = 0;
 
-    public static double spindexer_intakePos2 = 0.36;//0.5;
+    public static double spindexer_intakePos2 = 0.19;//0.5;
 
-    public static double spindexer_intakePos3 = 0.54;//0.66;
+    public static double spindexer_intakePos3 = 0.38;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.47;
+    public static double spindexer_outtakeBall3 = 0.65;
+
+    public static double spindexer_outtakeBall2 = 0.46;
+    public static double spindexer_outtakeBall1 = 0.27;
+    public static double spinStartPos = spindexer_outtakeBall1 - 0.08;
 
-    public static double spindexer_outtakeBall2 = 0.31;
-    public static double spindexer_outtakeBall1 = 0.15;
 
     public static double transferServo_out = 0.15;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java

@@ -201,9 +201,9 @@ public final class MecanumDrive {
         public double kA = 0.000046;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 180;
+        public double maxWheelVel = 250;
         public double minProfileAccel = -40;
-        public double maxProfileAccel = 180;
+        public double maxProfileAccel = 250;
 
         // turn profile parameters (in radians)
         public double maxAngVel = 4 * Math.PI; // shared with path

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java

@@ -162,11 +162,11 @@ public class TeleopV2 extends LinearOpMode {
             //TODO: make sure changing position works throughout opmode
             if (!servo.spinEqual(spindexPos)){
                 spindexPID = servo.setSpinPos(spindexPos);
-                robot.spin1.setPower(spindexPID);
+                robot.spin1.setPosition(spindexPID);
-                robot.spin2.setPower(-spindexPID);
+                robot.spin2.setPosition(-spindexPID);
             } else{
-                robot.spin1.setPower(0);
+                robot.spin1.setPosition(0);
-                robot.spin2.setPower(0);
+                robot.spin2.setPosition(0);
             }
 
             //INTAKE:

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

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
 import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 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;
@@ -121,6 +122,7 @@ public class TeleopV3 extends LinearOpMode {
     private int tickerA = 1;
     private boolean transferIn = false;
     boolean turretInterpolate = false;
+    public static double spinSpeedIncrease = 0.04;
 
     public static double velPrediction(double distance) {
         if (distance < 30) {
@@ -139,13 +141,15 @@ public class TeleopV3 extends LinearOpMode {
 
     @Override
     public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        robot.light.setPosition(0);
         List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
 
         for (LynxModule hub : allHubs) {
             hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
         }
 
-        robot = new Robot(hardwareMap);
+
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
         flywheel = new Flywheel(hardwareMap);
@@ -167,14 +171,16 @@ public class TeleopV3 extends LinearOpMode {
 //        robot.limelight.start();
 
         Turret turret = new Turret(robot, TELE, robot.limelight);
-        waitForStart();
+        robot.light.setPosition(1);
-
         waitForStart();
         if (isStopRequested()) return;
 
         robot.transferServo.setPosition(transferServo_out);
 
         while (opModeIsActive()) {
+            // LIGHT COLORS
+            spindexer.ballCounterLight();
+
             //DRIVETRAIN:
 
             double y = 0.0;
@@ -233,37 +239,43 @@ public class TeleopV3 extends LinearOpMode {
 
             //TODO: Use color sensors to switch between positions...switch after ball detected in
 
+            if (gamepad1.right_bumper){
+                shootAll = false;
+                robot.transferServo.setPosition(transferServo_out);
+
+            }
+
             if (autoSpintake) {
 
                 if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
-                    spinCurrentPos = servo.getSpinPos();
 
-                    double spindexPID = spinPID.calculate(spinCurrentPos, spindexPos);
 
-                    robot.spin1.setPower(spindexPID);
+                    robot.spin1.setPosition(spindexPos);
-                    robot.spin2.setPower(-spindexPID);
+                    robot.spin2.setPosition(1-spindexPos);
 
                 }
 
                 if (gamepad1.right_bumper) {
 
+                    shootAll = false;
+
                     intakeTicker++;
 
-                    if (intakeTicker % 20 < 2) {
+//                    if (intakeTicker % 20 < 2) {
-
+//
-                        robot.spin1.setPower(-1);
+//                        robot.spin1.setPower(-1);
-                        robot.spin2.setPower(1);
+//                        robot.spin2.setPower(1);
-
+//
-                    } else if (intakeTicker % 20 < 10) {
+//                    } else if (intakeTicker % 20 < 10) {
-                        robot.spin1.setPower(-0.5);
+//                        robot.spin1.setPower(-0.5);
-                        robot.spin2.setPower(0.5);
+//                        robot.spin2.setPower(0.5);
-                    } else if (intakeTicker % 20 < 12) {
+//                    } else if (intakeTicker % 20 < 12) {
-                        robot.spin1.setPower(1);
+//                        robot.spin1.setPower(1);
-                        robot.spin2.setPower(-1);
+//                        robot.spin2.setPower(-1);
-                    } else {
+//                    } else {
-                        robot.spin1.setPower(0.5);
+//                        robot.spin1.setPower(0.5);
-                        robot.spin2.setPower(-0.5);
+//                        robot.spin2.setPower(-0.5);
-                    }
+//                    }
 
                     robot.intake.setPower(1);
                     intakeStamp = getRuntime();
@@ -271,17 +283,9 @@ public class TeleopV3 extends LinearOpMode {
                     TELE.update();
                 } else {
                     if (!servo.spinEqual(spindexPos)) {
-                        spinCurrentPos = servo.getSpinPos();
+                        robot.spin1.setPosition(spindexPos);
+                        robot.spin2.setPosition(1-spindexPos);
 
-                        double spindexPID = spinPID.calculate(spinCurrentPos, spindexPos);
-
-                        robot.spin1.setPower(spindexPID);
-                        robot.spin2.setPower(-spindexPID);
-
-                    } else {
-
-                        robot.spin1.setPower(0);
-                        robot.spin2.setPower(0);
                     }
 
                     spindexPos = spindexer_intakePos1;
@@ -506,76 +510,76 @@ public class TeleopV3 extends LinearOpMode {
 //                }
 //            }
 
-            if (gamepad1.left_bumper && !enableSpindexerManager) {
+            //if (gamepad1.left_bumper && !enableSpindexerManager) {
 
-                robot.transferServo.setPosition(transferServo_out);
+            //    robot.transferServo.setPosition(transferServo_out);
 
-                autoSpintake = false;
+//                autoSpintake = false;
-
+//
-                intakeTicker++;
+//                intakeTicker++;
-
+//
-                if (intakeTicker % 10 < 1) {
+//                if (intakeTicker % 10 < 1) {
-
+//
-                    robot.spin1.setPower(-1);
+//                    robot.spin1.setPower(-1);
-                    robot.spin2.setPower(1);
+//                    robot.spin2.setPower(1);
-
+//
-                } else if (intakeTicker % 10 < 5) {
+//                } else if (intakeTicker % 10 < 5) {
-                    robot.spin1.setPower(-0.5);
+//                    robot.spin1.setPower(-0.5);
-                    robot.spin2.setPower(0.5);
+//                    robot.spin2.setPower(0.5);
-                } else if (intakeTicker % 10 < 6) {
+//                } else if (intakeTicker % 10 < 6) {
-                    robot.spin1.setPower(1);
+//                    robot.spin1.setPower(1);
-                    robot.spin2.setPower(-1);
+//                    robot.spin2.setPower(-1);
-                } else {
+//                } else {
-                    robot.spin1.setPower(0.5);
+//                    robot.spin1.setPower(0.5);
-                    robot.spin2.setPower(-0.5);
+//                    robot.spin2.setPower(-0.5);
-                }
+//                }
-
+//
-                intake = false;
+//                intake = false;
-                reject = false;
+//                reject = false;
-
+//
-                robot.intake.setPower(0.5);
+//                robot.intake.setPower(0.5);
-
+//
-            }
+//            }
-
+//
-            if (gamepad1.leftBumperWasReleased() && !enableSpindexerManager) {
+//            if (gamepad1.leftBumperWasReleased() && !enableSpindexerManager) {
-                shootStamp = getRuntime();
+//                shootStamp = getRuntime();
-                shootAll = true;
+//                shootAll = true;
-
+//
-                shooterTicker = 0;
+//                shooterTicker = 0;
-            }
+//            }
-
+//
-            if (shootAll && !enableSpindexerManager) {
+//            if (shootAll && !enableSpindexerManager) {
-
+//
-                TELE.addData("100% works", shootOrder);
+//                TELE.addData("100% works", shootOrder);
-
+//
-                intake = false;
+//                intake = false;
-                reject = false;
+//                reject = false;
-
+//
-                shooterTicker++;
+//                shooterTicker++;
-
+//
-                spindexPos = spindexer_intakePos1;
+//                spindexPos = spindexer_intakePos1;
-
+//
-                if (getRuntime() - shootStamp < 3.5) {
+//                if (getRuntime() - shootStamp < 3.5) {
-
+//
-                    robot.transferServo.setPosition(transferServo_in);
+//                    robot.transferServo.setPosition(transferServo_in);
-
+//
-                    autoSpintake = false;
+//                    autoSpintake = false;
-
+//
-                    robot.spin1.setPower(-spinPow);
+//                    robot.spin1.setPower(-spinPow);
-                    robot.spin2.setPower(spinPow);
+//                    robot.spin2.setPower(spinPow);
-
+//
-                } else {
+//                } else {
-                    robot.transferServo.setPosition(transferServo_out);
+//                    robot.transferServo.setPosition(transferServo_out);
-                    spindexPos = spindexer_intakePos1;
+//                    spindexPos = spindexer_intakePos1;
-
+//
-                    shootAll = false;
+//                    shootAll = false;
-
+//
-                    autoSpintake = true;
+//                    autoSpintake = true;
-
+//
-                    robot.transferServo.setPosition(transferServo_out);
+//                    robot.transferServo.setPosition(transferServo_out);
-                }
+//                }
-
+//
-            }
+//            }
 
             if (enableSpindexerManager) {
                 if (!shootAll) {
@@ -599,6 +603,8 @@ public class TeleopV3 extends LinearOpMode {
                     shootAll = true;
 
                     shooterTicker = 0;
+                    spindexPos = spinStartPos;// TODO: Change starting position based on desired order to shoot green ball
+
                 }
 
                 if (shootAll) {
@@ -606,17 +612,18 @@ public class TeleopV3 extends LinearOpMode {
                     intake = false;
                     reject = false;
 
-                    shooterTicker++;
-
-                    // TODO: Change starting position based on desired order to shoot green ball
-                    spindexPos = spindexer_intakePos1;
-
                     if (getRuntime() - shootStamp < 3.5) {
 
+                        if (shooterTicker == 0 && !servo.spinEqual(spindexPos)){
+                            robot.spin1.setPosition(spindexPos);
+                            robot.spin2.setPosition(1-spindexPos);
+                        } else {
                             robot.transferServo.setPosition(transferServo_in);
-
+                            shooterTicker++;
-                        robot.spin1.setPower(-spinPow);
+                            double prevSpinPos = robot.spin1.getPosition();
-                        robot.spin2.setPower(spinPow);
+                            robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
+                            robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
+                        }
 
                     } else {
                         robot.transferServo.setPosition(transferServo_out);
@@ -624,12 +631,19 @@ public class TeleopV3 extends LinearOpMode {
 
                         shootAll = false;
 
-                        robot.transferServo.setPosition(transferServo_out);
-
                         spindexer.resetSpindexer();
                         spindexer.processIntake();
                     }
                 }
+
+                if (gamepad1.left_stick_button){
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+                }
             }
 
 //

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

@@ -16,8 +16,7 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
 import java.util.ArrayList;
 import java.util.List;
 
-@Config
+
-@TeleOp
 public class IntakeTest extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
@@ -72,19 +71,19 @@ public class IntakeTest extends LinearOpMode {
                         initPos = currentPos;
                     }
                     if (reverse){
-                        robot.spin1.setPower(manualPow);
+                        robot.spin1.setPosition(manualPow);
-                        robot.spin2.setPower(-manualPow);
+                        robot.spin2.setPosition(-manualPow);
                     } else {
-                        robot.spin1.setPower(-manualPow);
+                        robot.spin1.setPosition(-manualPow);
-                        robot.spin2.setPower(manualPow);
+                        robot.spin2.setPosition(manualPow);
                     }
                     robot.intake.setPower(1);
                     stamp = getRuntime();
                     TELE.addData("Reverse?", reverse);
                     TELE.update();
                 } else {
-                    robot.spin1.setPower(0);
+                    robot.spin1.setPosition(0);
-                    robot.spin2.setPower(0);
+                    robot.spin2.setPosition(0);
 
                     if (getRuntime() - stamp < 1) {
                         robot.intake.setPower(-(getRuntime() - stamp)*2);
@@ -191,15 +190,15 @@ public class IntakeTest extends LinearOpMode {
 
         if (!atTarget) {
             powPID = servo.setSpinPos(spindexerPos);
-            robot.spin1.setPower(powPID);
+            robot.spin1.setPosition(powPID);
-            robot.spin2.setPower(-powPID);
+            robot.spin2.setPosition(-powPID);
 
             steadySpin = false;
             wasMoving = true;   // remember we were moving
             stamp = getRuntime();
         } else {
-            robot.spin1.setPower(0);
+            robot.spin1.setPosition(0);
-            robot.spin2.setPower(0);
+            robot.spin2.setPosition(0);
             steadySpin = true;
             wasMoving = false;
         }

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

@@ -17,7 +17,7 @@ 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 pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 4 is for red track; DO NOT USE 3
     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;

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

@@ -9,8 +9,6 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
-@TeleOp
-@Config
 public class PIDServoTest extends LinearOpMode {
 
     public static double p = 2, i = 0, d = 0, f = 0;
@@ -47,8 +45,8 @@ public class PIDServoTest extends LinearOpMode {
 
                 double pid = controller.calculate(pos, target);
 
-                robot.spin1.setPower(pid);
+                robot.spin1.setPosition(pid);
-                robot.spin2.setPower(-pid);
+                robot.spin2.setPosition(-pid);
             }
 
             telemetry.addData("pos", pos);

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

@@ -1,8 +1,11 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 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.teleop.TeleopV3.spinSpeedIncrease;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -13,6 +16,7 @@ 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.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
 
 @Config
@@ -36,6 +40,7 @@ public class ShooterTest extends LinearOpMode {
     public static boolean intake = false;
     Robot robot;
     Flywheel flywheel;
+    Servos servo;
 
     double shootStamp = 0.0;
     boolean shootAll = false;
@@ -45,6 +50,7 @@ public class ShooterTest extends LinearOpMode {
     public static boolean enableHoodAutoOpen = false;
     public double hoodAdjust = 0.0;
     public static double hoodAdjustFactor = 1.0;
+    private int shooterTicker = 0;
     Spindexer spindexer ;
 
     @Override
@@ -55,6 +61,7 @@ public class ShooterTest extends LinearOpMode {
         DcMotorEx rightShooter = robot.shooter2;
         flywheel = new Flywheel(hardwareMap);
         spindexer = new Spindexer(hardwareMap);
+        servo = new Servos(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -95,6 +102,7 @@ public class ShooterTest extends LinearOpMode {
                 shootAll = true;
                 shoot = false;
                 robot.transfer.setPower(transferPower);
+                shooterTicker = 0;
             }
             if (shootAll) {
 
@@ -103,24 +111,31 @@ public class ShooterTest extends LinearOpMode {
 
                 // TODO: Change starting position based on desired order to shoot green ball
                 //spindexPos = spindexer_intakePos1;
-
                 if (getRuntime() - shootStamp < 3.5) {
 
+                    if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
+                        robot.spin1.setPosition(spinStartPos);
+                        robot.spin2.setPosition(1-spinStartPos);
+                    } else {
                         robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
+                        robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
+                    }
+
 
-                    robot.spin1.setPower(-spinPow);
-                    robot.spin2.setPower(spinPow);
 
                 } else {
                     robot.transferServo.setPosition(transferServo_out);
                     //spindexPos = spindexer_intakePos1;
 
                     shootAll = false;
+                    shooterTicker = 0;
 
                     robot.transferServo.setPosition(transferServo_out);
                     robot.transfer.setPower(0);
-                    robot.spin1.setPower(0);
+
-                    robot.spin2.setPower(0);
 
                     spindexer.resetSpindexer();
                     spindexer.processIntake();

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

@@ -18,14 +18,10 @@ public class PositionalServoProgrammer extends LinearOpMode {
     Servos servo;
 
     public static double spindexPos = 0.501;
-    public static double spindexPow = 0.0;
-    public static double spinHoldPow = 0.0;
     public static double turretPos = 0.501;
-    public static double turretPow = 0.0;
-    public static double turrHoldPow = 0.0;
     public static double transferPos = 0.501;
     public static double hoodPos = 0.501;
-    public static int mode = 0; //0 for positional, 1 for power
+    public static double light = 0.501;
 
     Turret turret;
 
@@ -35,22 +31,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
 
-
-
         turret = new Turret(robot, TELE, robot.limelight );
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
-            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
+            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos)){
-                double pos = servo.setSpinPos(spindexPos);
+                robot.spin1.setPosition(spindexPos);
-                robot.spin1.setPower(pos);
+                robot.spin2.setPosition(1-spindexPos);
-                robot.spin2.setPower(-pos);
-            } else if (mode == 0){
-                robot.spin1.setPower(spinHoldPow);
-                robot.spin2.setPower(spinHoldPow);
-            } else {
-                robot.spin1.setPower(spindexPow);
-                robot.spin2.setPower(-spindexPow);
             }
             if (turretPos != 0.501){
                 robot.turr1.setPosition(turretPos);
@@ -62,6 +49,9 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (hoodPos != 0.501){
                 robot.hood.setPosition(hoodPos);
             }
+            if (light !=0.501){
+                robot.light.setPosition(light);
+            }
             // To check configuration of spindexer:
             // Set "mode" to 1 and spindexPow to 0.1
             // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
@@ -79,7 +69,6 @@ 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("spindexer pow", robot.spin1.getPower());
             TELE.addData("tpos ", turret.getTurrPos() );
             TELE.update();
         }

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

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.utils;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.hardware.ServoEx;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -40,8 +41,10 @@ public class Robot {
     public Servo transferServo;
     public Servo turr1;
     public Servo turr2;
-    public CRServo spin1;
+
-    public CRServo spin2;
+    public Servo spin1;
+
+    public Servo spin2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
     public AnalogInput turr1Pos;
@@ -52,6 +55,7 @@ public class Robot {
     public RevColorSensorV3 color2;
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
+    public Servo light;
 
     public Robot(HardwareMap hardwareMap) {
 
@@ -93,17 +97,14 @@ public class Robot {
         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");
+        spin1 = hardwareMap.get(Servo.class, "spin2");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
 
-        spin2 = hardwareMap.get(CRServo.class, "spin2");
+        spin2 = hardwareMap.get(Servo.class, "spin1");
 
         spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
 
-        spin1.setDirection(DcMotorSimple.Direction.REVERSE);
-        spin2.setDirection(DcMotorSimple.Direction.REVERSE);
-
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
 
         transferServo = hardwareMap.get(Servo.class, "transferServo");
@@ -125,5 +126,7 @@ public class Robot {
             webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
             aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }
+
+        light = hardwareMap.get(Servo.class, "light");
     }
 }

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

@@ -10,8 +10,8 @@ public class Servos {
     // TODO: get PIDF constants
     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_scalar = 1.112;
-    public static double spin_restPos = 0.0;
+    public static double spin_restPos = 0.155;
     public static double turret_scalar = 1.009;
     public static double turret_restPos = 0.0;
     Robot robot;
@@ -27,16 +27,14 @@ public class Servos {
     }
 
     // In the code below, encoder = robot.servo.getVoltage()
-
+    // TODO: set the restPos and scalar
     public double getSpinPos() {
         return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
     }
 
-    //TODO: PID warp so 0 and 1 are usable positions
     public double setSpinPos(double pos) {
-        spinPID.setPIDF(spinP, spinI, spinD, spinF);
 
-        return spinPID.calculate(this.getSpinPos(), pos);
+        return pos;
     }
 
     public boolean spinEqual(double pos) {
@@ -45,7 +43,6 @@ public class Servos {
 
     public double getTurrPos() {
         return 1.0;
-
     }
 
     public double setTurrPos(double pos) {

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

@@ -4,6 +4,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
@@ -67,7 +68,7 @@ public class Spindexer {
         SHOOTWAIT,
         SHOOT_ALL_PREP,
         SHOOT_ALL_READY
-    };
+    }
 
     public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
     public int unknownColorDetect = 0;
@@ -75,7 +76,7 @@ public class Spindexer {
         UNKNOWN,
         GREEN,
         PURPLE
-    };
+    }
 
     class BallPosition {
         boolean isEmpty = true;
@@ -247,17 +248,34 @@ public class Spindexer {
     }
 
     public void moveSpindexerToPos(double pos) {
-        spinCurrentPos = servos.getSpinPos();
+        robot.spin1.setPosition(pos);
-
+        robot.spin2.setPosition(1-pos);
-        double spindexPID = spinPID.calculate(spinCurrentPos, pos);
-
-        robot.spin1.setPower(spindexPID);
-        robot.spin2.setPower(-spindexPID);
     }
 
     public void stopSpindexer() {
-        robot.spin1.setPower(0);
+
-        robot.spin2.setPower(0);
+    }
+
+    public void ballCounterLight(){
+        int counter = 0;
+        if (!ballPositions[0].isEmpty){
+            counter++;
+        }
+        if (!ballPositions[1].isEmpty){
+            counter++;
+        }
+        if (!ballPositions[2].isEmpty){
+            counter++;
+        }
+        if (counter == 3){
+            robot.light.setPosition(Light3);
+        } else if (counter == 2){
+            robot.light.setPosition(Light2);
+        } else if (counter == 1){
+            robot.light.setPosition(Light1);
+        } else {
+            robot.light.setPosition(Light0);
+        }
     }
 
     public boolean isFull () {
@@ -305,33 +323,32 @@ public class Spindexer {
                 // Find Next Open Position and start movement
                 double currentSpindexerPos = servos.getSpinPos();
                 double commandedtravelDistance = 2.0;
-                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                //double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
-                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
-                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
-                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
-                    commandedIntakePosition = bestFitMotif();
+                    //commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);

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

@@ -14,6 +14,8 @@ public class Targeting {
     double unitConversionFactor = 0.95;
 
     int tileSize = 24; //inches
+    public final int TILE_UPPER_QUARTILE = 18;
+    public final int TILE_LOWER_QUARTILE = 6;
 
     public double robotInchesX, robotInchesY = 0.0;
 
@@ -100,6 +102,60 @@ public class Targeting {
         int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
         int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
+        int remX = Math.floorMod((int)robotInchesX, tileSize);
+        int remY = Math.floorMod((int)robotInchesX, tileSize);
+
+        // Determine if we need to interpolate based on tile position.
+        // if near upper or lower quarter or tile interpolate with next tile.
+        int x1 = 0;
+        int y1 = 0;
+//        interpolate = false;
+//        if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+//                (robotGridX < 5) && (robotGridY <5)) {
+//            // +X, +Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY + 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+//                (robotGridX > 0) && (robotGridY > 0)) {
+//            // -X, -Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY - 1;
+//        } else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+//                (robotGridX < 5) && (robotGridY > 0)) {
+//            // +X, -Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY - 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+//                (robotGridX > 0) && (robotGridY < 5)) {
+//            // -X, +Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY + 1;
+//        } else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
+//            // -X, Y
+//            interpolate = true;
+//            x1 = robotGridX - 1;
+//            y1 = robotGridY;
+//        } else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
+//            // X, -Y
+//            interpolate = true;
+//            x1 = robotGridX;
+//            y1 = robotGridY - 1;
+//        } else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
+//            // +X, Y
+//            interpolate = true;
+//            x1 = robotGridX + 1;
+//            y1 = robotGridY;
+//        } else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
+//            // X, +Y
+//            interpolate = true;
+//            x1 = robotGridX;
+//            y1 = robotGridY + 1;
+//        }
+
         //clamp
         robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
         robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
@@ -115,9 +171,9 @@ public class Targeting {
 
             // bilinear interpolation
             int x0 = robotGridX;
-            int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            //int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
-            int y0 = gridY;
+            int y0 = robotGridY;
-            int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+            //int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
 
             double x = (robotInchesX - (x0 * tileSize)) / tileSize;
             double y = (robotInchesY - (y0 * tileSize)) / tileSize;

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

@@ -1,12 +1,13 @@
-
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 
+import static java.lang.Math.abs;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
-import com.arcrobotics.ftclib.controller.PIDFController;
+import com.arcrobotics.ftclib.controller.PIDController;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
@@ -18,43 +19,43 @@ import java.util.List;
 
 @Config
 public class Turret {
+
     public static double turretTolerance = 0.02;
     public static double turrPosScalar = 0.00011264432;
     public static double turret180Range = 0.4;
     public static double turrDefault = 0.4;
+    public static double turrMin = 0.15;
+    public static double turrMax = 0.85;
+
+    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+    public static double cameraBearingEqual = 0.5;      // Deadband
+
     // TODO: tune these values for limelight
-// At the top with other static variables:
-    public static double kP = 0.015;  // Proportional gain - tune this first
-    public static double kI = 0.0005; // Integral gain - add slowly if needed
-    public static double kD = 0.002;  // Derivative gain - helps prevent overshoot
 
-    public static double kF = 0.002;  // Derivative gain - helps prevent overshoot
+    public static double clampTolerance = 0.03;
-
-    public static double maxOffset = 10; // degrees - safety limit
-
-    // Add these as instance variables:
-    private double lastTagBearing = 0.0;
-    private double offsetIntegral = 0.0;
-
-    public static double cameraBearingEqual = 1;
-
-
-    public static double turrMin = 0.2;
-    public static double turrMax = 0.8;
-    public static double mult = 0.0;
-    private boolean lockOffset = false;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
-    private int obeliskID = 0;
-    private double offset = 0.0;
 
-    private PIDFController controller = new PIDFController(kP, kI, kD, kF);
     double tx = 0.0;
     double ty = 0.0;
     double limelightPosX = 0.0;
     double limelightPosY = 0.0;
-    public static double clampTolerance = 0.03;
+    private boolean lockOffset = false;
+    private int obeliskID = 0;
+
+    private double offset = 0.0;
+    private double currentTrackOffset = 0.0;
+    private int currentTrackCount = 0;
+
+    private double permanentOffset = 0.0;
+
+    LLResult result;
+
+    private PIDController bearingPID;
+    public static double B_PID_P = 0.3, B_PID_I = 0.0, B_PID_D = 0.05;
+    boolean bearingAligned = false;
 
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
@@ -62,10 +63,11 @@ public class Turret {
         this.webcam = cam;
         webcam.start();
         if (redAlliance) {
-            webcam.pipelineSwitch(3);
+            webcam.pipelineSwitch(4);
         } else {
             webcam.pipelineSwitch(2);
         }
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
     }
 
     public void zeroTurretEncoder() {
@@ -89,12 +91,12 @@ public class Turret {
 
     private void limelightRead() { // only for tracking purposes, not general reads
         if (redAlliance) {
-            webcam.pipelineSwitch(3);
+            webcam.pipelineSwitch(4);
         } else {
             webcam.pipelineSwitch(2);
         }
 
-        LLResult result = webcam.getLatestResult();
+        result = webcam.getLatestResult();
         if (result != null) {
             if (result.isValid()) {
                 tx = result.getTx();
@@ -158,9 +160,50 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
+
+
+    private double bearingAlign (LLResult llResult) {
+        double bearingOffset = 0.0;
+        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
+        final double MIN_OFFSET_POWER = 0.15;
+        final double TARGET_POSITION_TOLERANCE = 1.0;
+        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+        final double DRIVE_POWER_REDUCTION = 2.0;
+
+        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
+            bearingAligned = true;
+        } else {
+            bearingAligned = false;
+        }
+
+        // Only with valid data and if too far off target
+        if (llResult.isValid() && !bearingAligned)
+        {
+
+            // Adjust Robot Speed based on how far the target is located
+            // Only drive at half speed max
+            // switched to PID but original formula left for reference in comments
+            //drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
+            bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
+
+//            // Make sure we have enough power to actually drive the wheels
+//            if (abs(bearingOffset) < MIN_OFFSET_POWER) {
+//                if (bearingOffset > 0.0) {
+//                    bearingOffset = MIN_OFFSET_POWER;
+//                } else {
+//                    bearingOffset = -MIN_OFFSET_POWER;
+//                }
+//
+//            }
+        }
+
+        return bearingOffset;
+    }
+
+
     public void trackGoal(Pose2d deltaPos) {
 
-        controller.setPIDF(kP, kI, kD, kF);
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
 
         // Angle from robot to goal in robot frame
@@ -173,55 +216,96 @@ public class Turret {
 
         // Turret angle needed relative to robot
         double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
-
         turretAngleDeg = -turretAngleDeg;
 
         // Normalize to [-180, 180]
         while (turretAngleDeg > 180) turretAngleDeg -= 360;
         while (turretAngleDeg < -180) turretAngleDeg += 360;
 
-        /* ---------------- APRILTAG CORRECTION ---------------- */
+
+        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
+        // Update local limelight results
+        //double tagBearingDeg = getBearing();  // + = target is to the left
+        //boolean hasValidTarget = (tagBearingDeg != 1000.0);
+
+        turretAngleDeg += permanentOffset;
+
+        limelightRead();
+        // Active correction if we see the target
+        if (result.isValid() && !lockOffset) {
+            currentTrackOffset += bearingAlign(result);
+            currentTrackCount++;
+//            double bearingError = Math.abs(tagBearingDeg);
 //
-        double tagBearingDeg = getBearing();  // + = target is to the left
+//            if (bearingError > cameraBearingEqual) {
-
+//                // Apply sqrt scaling to reduce aggressive corrections at large errors
-        turretAngleDeg += offset;
+//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
-
+//
-        /* ---------------- ANGLE → SERVO ---------------- */
+//                // Calculate correction
-
+//                double offsetChange = visionCorrectionGain * filteredBearing;
-        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+//
-
+//                // Limit rate of change to prevent jumps
-        // Clamp to servo range
+//                offsetChange = Math.max(-maxOffsetChangePerCycle,
-        double currentEncoderPos = this.getTurrPos();
+//                        Math.min(maxOffsetChangePerCycle, offsetChange));
-
+//
-        if (!turretEqual(turretPos)) {
+//                // Accumulate the correction
-            double diff = turretPos - currentEncoderPos;
+//                offset += offsetChange;
-            turretPos = turretPos + diff * mult;
+//
+//                TELE.addData("Bearing Error", tagBearingDeg);
+//                TELE.addData("Offset Change", offsetChange);
+//                TELE.addData("Total Offset", offset);
+//            } else {
+//                // When centered, lock in the learned offset
+//                permanentOffset = offset;
+//                offset = 0.0;
+//            }
+        } else {
+            // only store perma update after 20+ successful tracks
+            // this did not work good in testing; only current works best so far.
+//            if (currentTrackCount > 20) {
+//                offset = currentTrackOffset;
+//            }
+            currentTrackOffset = 0.0;
+            currentTrackCount = 0;
         }
 
-        if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) {
+        // Apply accumulated offset
-            // Clamp to servo range
+        turretAngleDeg += offset + currentTrackOffset;
-            turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
-        } else { // TODO: add so it only adds error when standstill
-            if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) {
-                // PID-based offset correction for faster, smoother tracking
-
-                // Proportional: respond to current error
-
-                 offset = -controller.calculate(tagBearingDeg);
 
 
+        /* ---------------- ANGLE → SERVO POSITION ---------------- */
 
-            }
+        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to physical servo limits
+        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
+
+        // Interpolate towards target position
+        double currentPos = getTurrPos();
+        double turretPos = targetTurretPos;
+
+        if (targetTurretPos == turrMin) {
+            turretPos = turrMin;
+        } else if (targetTurretPos == turrMax) {
+            turretPos = turrMax;
         }
 
+        // Set servo positions
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1.0 - turretPos);
 
+
         /* ---------------- TELEMETRY ---------------- */
 
-        TELE.addData("Turret Angle", turretAngleDeg);
+        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
-        TELE.addData("Bearing", tagBearingDeg);
+        TELE.addData("Target Pos", "%.3f", targetTurretPos);
-        TELE.addData("Offset", offset);
+        TELE.addData("Current Pos", "%.3f", currentPos);
+        TELE.addData("Commanded Pos", "%.3f", turretPos);
+        TELE.addData("LL Valid", result.isValid());
+        TELE.addData("LL getTx", result.getTx());
+        TELE.addData("LL Offset", offset);
+        //TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+        TELE.addData("Learned Offset", "%.2f", offset);
     }
 
 }

build.dependencies.gradle

@@ -26,10 +26,10 @@ dependencies {
 
     implementation 'com.bylazar:fullpanels:1.0.2' //Panels
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
-    implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
+    implementation "com.acmerobotics.roadrunner:core:1.0.1"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
+    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
-    implementation "com.acmerobotics.dashboard:dashboard:0.4.17" //FTC Dash
+    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
 
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB