Add a PID to Limelight tracking bringing in track function from Abyss. Simplify spindexer due to errors with advanced code. Start adding Interpolation to Targeting (commented out for now).

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

@@ -305,33 +305,32 @@ 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);
-                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                //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);
-                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                //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);
-                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                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 y0 = gridY;
-            int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+            //int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            int y0 = robotGridY;
+            //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;
@@ -18,54 +19,55 @@ 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 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;
+    public static double clampTolerance = 0.03;
     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;
         this.robot = rob;
         this.webcam = cam;
         webcam.start();
-        if (redAlliance){
+        if (redAlliance) {
             webcam.pipelineSwitch(3);
         } else {
             webcam.pipelineSwitch(2);
         }
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
     }
 
     public void zeroTurretEncoder() {
@@ -78,30 +80,30 @@ public class Turret {
 
     }
 
-    public void manualSetTurret(double pos){
+    public void manualSetTurret(double pos) {
         robot.turr1.setPosition(pos);
-        robot.turr2.setPosition(1-pos);
+        robot.turr2.setPosition(1 - pos);
     }
 
     public boolean turretEqual(double pos) {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
-    private void limelightRead(){ // only for tracking purposes, not general reads
-        if (redAlliance){
-            webcam.pipelineSwitch(3);
+    private void limelightRead() { // only for tracking purposes, not general reads
+        if (redAlliance) {
+            webcam.pipelineSwitch(4);
         } else {
             webcam.pipelineSwitch(2);
         }
 
-        LLResult result = webcam.getLatestResult();
+        result = webcam.getLatestResult();
         if (result != null) {
             if (result.isValid()) {
                 tx = result.getTx();
                 ty = result.getTy();
                 // MegaTag1 code for receiving position
                 Pose3D botpose = result.getBotpose();
-                if (botpose != null){
+                if (botpose != null) {
                     limelightPosX = botpose.getPosition().x;
                     limelightPosY = botpose.getPosition().y;
                 }
@@ -116,17 +118,17 @@ public class Turret {
         return tx;
     }
 
-    public double getTy(){
+    public double getTy() {
         limelightRead();
         return ty;
     }
 
-    public double getLimelightX(){
+    public double getLimelightX() {
         limelightRead();
         return limelightPosX;
     }
 
-    public double getLimelightY(){
+    public double getLimelightY() {
         limelightRead();
         return limelightPosY;
     }
@@ -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
-
-        turretAngleDeg += offset;
-
-        /* ---------------- ANGLE → SERVO ---------------- */
-
-        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
-
-        // Clamp to servo range
-        double currentEncoderPos = this.getTurrPos();
-
-        if (!turretEqual(turretPos)) {
-            double diff = turretPos - currentEncoderPos;
-            turretPos = turretPos + diff * mult;
+//            if (bearingError > cameraBearingEqual) {
+//                // Apply sqrt scaling to reduce aggressive corrections at large errors
+//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
+//
+//                // Calculate correction
+//                double offsetChange = visionCorrectionGain * filteredBearing;
+//
+//                // Limit rate of change to prevent jumps
+//                offsetChange = Math.max(-maxOffsetChangePerCycle,
+//                        Math.min(maxOffsetChangePerCycle, offsetChange));
+//
+//                // Accumulate the correction
+//                offset += offsetChange;
+//
+//                TELE.addData("Bearing Error", tagBearingDeg);
+//                TELE.addData("Offset Change", offsetChange);
+//                TELE.addData("Total Offset", offset);
+//            } else {
+//                // When centered, lock in the learned offset
+//                permanentOffset = offset;
+//                offset = 0.0;
+//            }
+        } 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)) {
-            // Clamp to servo range
-            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);
+        // Apply accumulated offset
+        turretAngleDeg += offset + currentTrackOffset;
 
 
+        /* ---------------- 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("Bearing", tagBearingDeg);
-        TELE.addData("Offset", offset);
+        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
+        TELE.addData("Target Pos", "%.3f", targetTurretPos);
+        TELE.addData("Current Pos", "%.3f", currentPos);
+        TELE.addData("Commanded Pos", "%.3f", turretPos);
+        TELE.addData("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);
     }
 
 }