For Daniel

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

@@ -1,4 +1,3 @@
-
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
@@ -6,7 +5,6 @@ import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
-import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
@@ -18,50 +16,42 @@ 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 permanentOffset = 0.0;
 
     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);
@@ -78,17 +68,17 @@ 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
+    private void limelightRead() { // only for tracking purposes, not general reads
-        if (redAlliance){
+        if (redAlliance) {
             webcam.pipelineSwitch(3);
         } else {
             webcam.pipelineSwitch(2);
@@ -101,7 +91,7 @@ public class Turret {
                 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 +106,17 @@ 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 +148,9 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
+
     public void trackGoal(Pose2d deltaPos) {
 
-        controller.setPIDF(kP, kI, kD, kF);
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
 
         // Angle from robot to goal in robot frame
@@ -173,55 +163,81 @@ 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 ---------------- */
         double tagBearingDeg = getBearing();  // + = target is to the left
+        boolean hasValidTarget = (tagBearingDeg != 1000.0);
 
-        turretAngleDeg += offset;
+        turretAngleDeg += permanentOffset;
 
-        /* ---------------- ANGLE → SERVO ---------------- */
+        // Active correction if we see the target
+        if (hasValidTarget && !lockOffset) {
+            double bearingError = Math.abs(tagBearingDeg);
 
-        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+            if (bearingError > cameraBearingEqual) {
+                // Apply sqrt scaling to reduce aggressive corrections at large errors
+                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
 
-        // Clamp to servo range
+                // Calculate correction
-        double currentEncoderPos = this.getTurrPos();
+                double offsetChange = visionCorrectionGain * filteredBearing;
-
-        if (!turretEqual(turretPos)) {
-            double diff = turretPos - currentEncoderPos;
-            turretPos = turretPos + diff * mult;
-        }
-
-        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);
 
+                // Limit rate of change to prevent jumps
+                offsetChange = Math.max(-maxOffsetChangePerCycle,
+                        Math.min(maxOffsetChangePerCycle, offsetChange));
 
+                // Accumulate the correction
+                offset += offsetChange;
 
+                TELE.addData("Bearing Error", tagBearingDeg);
+                TELE.addData("Offset Change", offsetChange);
+                TELE.addData("Total Offset", offset);
+            } else {
+                // When centered, lock in the learned offset
+                permanentOffset = offset;
+                offset = 0.0;
             }
         }
 
+// Apply accumulated offset
+        turretAngleDeg += offset;
+
+
+        /* ---------------- ANGLE → SERVO POSITION ---------------- */
+
+        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to physical servo limits
+        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
+
+        // Interpolate towards target position
+        double currentPos = getTurrPos();
+        double turretPos = targetTurretPos;
+
+        if (targetTurretPos == turrMin) {
+            turretPos = turrMin;
+        } else if (targetTurretPos == turrMax) {
+            turretPos = turrMax;
+        }
+
+        // Set servo positions
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1.0 - turretPos);
 
+
         /* ---------------- TELEMETRY ---------------- */
 
-        TELE.addData("Turret Angle", 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("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+        TELE.addData("Learned Offset", "%.2f", offset);
     }
 
 }