12 ball auto almost done - need to fine tune some poses and fix turret.track

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_12Ball.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java

@@ -0,0 +1,920 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.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.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Poses_V2;
+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;
+
+@Disabled
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class Auto_LT_Close_12Ball 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 normalIntakeTime = 3.0;
+    public static double shoot1Turr = 0.57;
+    public static double shoot0XTolerance = 1.0;
+    public static double turretShootPos = 0.53;
+    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 = 17;
+    // ---- 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 x3a, y3a, h3a;
+    private double x3b, y3b, h3b;
+    private double x4a, y4a, h4a;
+    private double x4b, y4b, h4b;
+
+    private double xShoot, yShoot, hShoot;
+    private double xGate, yGate, hGate;
+    private double xPrep, yPrep, hPrep;
+
+    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);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                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", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                Poses_V2.teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                Poses_V2.teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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();
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                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;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                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;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                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;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                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;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        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));
+
+        robot.spin1.setPosition(autoSpinStartPos);
+        robot.spin2.setPosition(1 - autoSpinStartPos);
+
+        robot.transferServo.setPosition(transferServo_out);
+
+        TrajectoryActionBuilder shoot0 = null;
+        TrajectoryActionBuilder pickup1 = null;
+        TrajectoryActionBuilder shoot1 = null;
+        TrajectoryActionBuilder pickup2 = null;
+        TrajectoryActionBuilder shoot2 = null;
+        TrajectoryActionBuilder pickup3 = null;
+        TrajectoryActionBuilder shoot3 = null;
+
+        robot.limelight.start();
+
+        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;
+                x2b = rx2b;
+                y2b = ry2b;
+                h2b = rh2b;
+                x3a = rx3a;
+                y3a = ry3a;
+                h3a = rh3a;
+                x3b = rx3b;
+                y3b = ry3b;
+                h3b = rh3b;
+                x4a = rx4a;
+                y4a = ry4a;
+                h4a = rh4a;
+                x4b = rx4b;
+                y4b = ry4b;
+                h4b = rh4b;
+                xPrep = rxPrep;
+                yPrep = ryPrep;
+                hPrep = rhPrep;
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+
+
+            } else {
+                robot.light.setPosition(0.6);
+
+                // ---- FIRST SHOT ----
+                x1 = bx1;
+                y1 = by1;
+                h1 = bh1;
+
+                // ---- PICKUP PATH ----
+                x2a = bx2a;
+                y2a = by2a;
+                h2a = bh2a;
+                x2b = bx2b;
+                y2b = by2b;
+                h2b = bh2b;
+                x3a = bx3a;
+                y3a = by3a;
+                h3a = bh3a;
+                x3b = bx3b;
+                y3b = by3b;
+                h3b = bh3b;
+                x4a = bx4a;
+                y4a = by4a;
+                h4a = bh4a;
+                x4b = bx4b;
+                y4b = by4b;
+                h4b = bh4b;
+
+                xPrep = bxPrep;
+                yPrep = byPrep;
+                hPrep = bhPrep;
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+
+            }
+
+            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))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+            pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+                    .strafeToLinearHeading(new Vector2d(x3a, y3a), h3a)
+                    .strafeToLinearHeading(new Vector2d(x3b, y3b), h3b,
+                            new TranslationalVelConstraint(pickup1Speed));
+
+            shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+            pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                    .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
+                    .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
+                            new TranslationalVelConstraint(pickup1Speed));
+            shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+
+
+            TELE.addData("Red?", redAlliance);
+            TELE.update();
+        }
+
+        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)
+
+                    )
+            );
+
+            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)
+                    )
+
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            manageShooterAuto(
+                                    normalIntakeTime,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(normalIntakeTime)
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheelAuto(
+                                    shootCycleTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot2.build(),
+                            prepareShootAll(shootCycleTime)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup3.build(),
+                            manageShooterAuto(
+                                    normalIntakeTime,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(normalIntakeTime)
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheelAuto(
+                                    shootCycleTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot3.build(),
+                            prepareShootAll(shootCycleTime)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+}

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

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.autonomous;
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.*;
 import static org.firstinspires.ftc.teamcode.constants.Poses.*;
@@ -21,6 +21,7 @@ import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@@ -31,6 +32,7 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
 
 import java.util.List;
 
+@Disabled
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class AutoClose_V3 extends LinearOpMode {
@@ -133,8 +135,8 @@ 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 +145,8 @@ 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 +226,8 @@ 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 +261,8 @@ 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/disabled/AutoFar_V1.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.autonomous;
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.*;
 import static org.firstinspires.ftc.teamcode.constants.Poses.*;
@@ -21,6 +21,7 @@ import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@@ -30,9 +31,10 @@ import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
 import java.util.List;
-
+@Disabled
 @Config
-@Autonomous(preselectTeleOp = "TeleopV3")
+@Autonomous
+
 public class AutoFar_V1 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
@@ -133,8 +135,8 @@ 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 +145,8 @@ 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 +226,8 @@ 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 +261,8 @@ 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/disabled/ProtoAutoClose_V3.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.autonomous;
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
@@ -72,6 +72,7 @@ import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@@ -81,7 +82,7 @@ import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
 import java.util.List;
-
+@Disabled
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class ProtoAutoClose_V3 extends LinearOpMode {
@@ -182,8 +183,8 @@ 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 +193,8 @@ 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 +204,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
         };
     }
 
+
     public Action Shoot(int vel) {
         return new Action() {
             int ticker = 1;
@@ -240,8 +242,8 @@ 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 +273,12 @@ 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 +319,20 @@ 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 +340,11 @@ 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

@@ -1,5 +1,11 @@
 package org.firstinspires.ftc.teamcode.constants;
 
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
 public class Color {
     public static boolean redAlliance = true;
+    public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
+
+    public static double colorFilterAlpha = 1;
 }

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

@@ -14,17 +14,17 @@ public class Poses {
 
     public static Pose2d goalPose = new Pose2d(-10, 0, 0);
 
-    public static double rx1 = 40, ry1 = -7, rh1 = 0;
+    public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
     public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
-    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
+    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140.1);
 
     public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
 
     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 rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
 
-    public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
+    public static double rx4a = 72, ry4a = 50, rh4a = Math.toRadians(145);
-    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
+    public static double rx4b = 42, ry4b = 80, rh4b = Math.toRadians(145.1);
 
     public static double bx1 = 40, by1 = 7, bh1 = 0;
     public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
@@ -38,6 +38,13 @@ public class Poses {
     public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
     public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
 
+    public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
+    public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
+
+    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
+    public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140);
+
+
     public static Pose2d teleStart = new Pose2d(0, 0, 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 +5,23 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.18;
+    public static double spindexer_intakePos1 = 0.05; //0.13;
 
-    public static double spindexer_intakePos2 = 0.36;//0.5;
+    public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.54;//0.66;
+    public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.47;
+    public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
 
-    public static double spindexer_outtakeBall2 = 0.31;
+    public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
-    public static double spindexer_outtakeBall1 = 0.15;
+    public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
+    public static double spinStartPos = 0.25;
+    public static double spinEndPos = 0.85;
+
+    public static double shootAllAutoSpinStartPos = 0.2;
+    public static double shootAllSpindexerSpeedIncrease = 0.04;
+    public static double shootAllTime = 1.8;
 
     public static double transferServo_out = 0.15;
 

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

@@ -5,9 +5,7 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.*;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -16,20 +14,12 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.ProfileParams;
-import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2d;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -56,131 +46,13 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
 
+import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 
 @Config
 public final class MecanumDrive {
-    public static Params PARAMS = new Params();
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-    public final VoltageSensor voltageSensor;
-    public final LazyImu lazyImu;
-    public final Localizer localizer;
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
-        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
-        rightBack = hardwareMap.get(DcMotorEx.class, "br");
-        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        PoseVelocity2d vel = localizer.update();
-        poseHistory.add(localizer.getPose());
-
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-
-        return vel;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
-
     public static class Params {
         // IMU orientation
         // TODO: fill in these values based on
@@ -206,8 +78,8 @@ public final class MecanumDrive {
         public double maxProfileAccel = 180;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = 4 * Math.PI; // shared with path
+        public double maxAngVel = 4* Math.PI; // shared with path
-        public double maxAngAccel = 4 * Math.PI;
+        public double maxAngAccel = 4* Math.PI;
 
         // path controller gains
         public double axialGain = 4;
@@ -219,6 +91,35 @@ public final class MecanumDrive {
         public double headingVelGain = 0.0; // shared with turn
     }
 
+    public static Params PARAMS = new Params();
+
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            new MinVelConstraint(Arrays.asList(
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
+            ));
+    public final AccelConstraint defaultAccelConstraint =
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+
+    public final VoltageSensor voltageSensor;
+
+    public final LazyImu lazyImu;
+
+    public final Localizer localizer;
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+
     public class DriveLocalizer implements Localizer {
         public final Encoder leftFront, leftBack, rightBack, rightFront;
         public final IMU imu;
@@ -243,13 +144,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public Pose2d getPose() {
+        public void setPose(Pose2d pose) {
-            return pose;
+            this.pose = pose;
         }
 
         @Override
-        public void setPose(Pose2d pose) {
+        public Pose2d getPose() {
-            this.pose = pose;
+            return pose;
         }
 
         @Override
@@ -315,11 +216,64 @@ public final class MecanumDrive {
         }
     }
 
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private final double[] xPoints, yPoints;
         private double beginTs = -1;
 
+        private final double[] xPoints, yPoints;
+
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
 
@@ -496,4 +450,51 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
 }

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

@@ -1,7 +1,13 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 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;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
 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.utils.Servos.spinD;
@@ -26,6 +32,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -121,6 +128,8 @@ public class TeleopV3 extends LinearOpMode {
     private int tickerA = 1;
     private boolean transferIn = false;
     boolean turretInterpolate = false;
+    public static double spinSpeedIncrease = 0.03;
+    public static int resetSpinTicks = 4;
 
     public static double velPrediction(double distance) {
         if (distance < 30) {
@@ -139,13 +148,15 @@ 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);
@@ -157,17 +168,17 @@ public class TeleopV3 extends LinearOpMode {
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
         tController.setTolerance(0.001);
-//
-//        if (redAlliance) {
-//            robot.limelight.pipelineSwitch(3);
-//        } else {
-//            robot.limelight.pipelineSwitch(2);
-//        }
-
-//        robot.limelight.start();
 
         Turret turret = new Turret(robot, TELE, robot.limelight);
-        waitForStart();
+        robot.light.setPosition(1);
+        while (opModeInInit()){
+            robot.limelight.start();
+            if (redAlliance) {
+                robot.limelight.pipelineSwitch(4);
+            } else {
+                robot.limelight.pipelineSwitch(2);
+            }
+        }
 
         waitForStart();
         if (isStopRequested()) return;
@@ -175,6 +186,12 @@ public class TeleopV3 extends LinearOpMode {
         robot.transferServo.setPosition(transferServo_out);
 
         while (opModeIsActive()) {
+            //LIMELIGHT START
+            TELE.addData("Is limelight on?", robot.limelight.getStatus());
+
+            // LIGHT COLORS
+            spindexer.ballCounterLight();
+
             //DRIVETRAIN:
 
             double y = 0.0;
@@ -233,63 +250,10 @@ public class TeleopV3 extends LinearOpMode {
 
             //TODO: Use color sensors to switch between positions...switch after ball detected in
 
-            if (autoSpintake) {
+            if (gamepad1.right_bumper){
+                shootAll = false;
+                robot.transferServo.setPosition(transferServo_out);
 
-                if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
-                    spinCurrentPos = servo.getSpinPos();
-
-                    double spindexPID = spinPID.calculate(spinCurrentPos, spindexPos);
-
-                    robot.spin1.setPower(spindexPID);
-                    robot.spin2.setPower(-spindexPID);
-
-                }
-
-                if (gamepad1.right_bumper) {
-
-                    intakeTicker++;
-
-                    if (intakeTicker % 20 < 2) {
-
-                        robot.spin1.setPower(-1);
-                        robot.spin2.setPower(1);
-
-                    } else if (intakeTicker % 20 < 10) {
-                        robot.spin1.setPower(-0.5);
-                        robot.spin2.setPower(0.5);
-                    } else if (intakeTicker % 20 < 12) {
-                        robot.spin1.setPower(1);
-                        robot.spin2.setPower(-1);
-                    } else {
-                        robot.spin1.setPower(0.5);
-                        robot.spin2.setPower(-0.5);
-                    }
-
-                    robot.intake.setPower(1);
-                    intakeStamp = getRuntime();
-                    TELE.addData("Reverse?", reverse);
-                    TELE.update();
-                } else {
-                    if (!servo.spinEqual(spindexPos)) {
-                        spinCurrentPos = servo.getSpinPos();
-
-                        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;
-
-                    robot.intake.setPower(0);
-
-                    intakeTicker = 0;
-                }
             }
 
             //COLOR:
@@ -424,31 +388,6 @@ public class TeleopV3 extends LinearOpMode {
             //SHOOTER:
             flywheel.manageFlywheel(vel);
 
-            //TODO: test the camera teleop code
-
-//            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
-//                double bearing;
-//
-//                LLResult result = robot.light.getLatestResult();
-//                if (result != null) {
-//                    if (result.isValid()) {
-//                        bearing = result.getTx() * bMult;
-//
-//                        double bearingCorrection = bearing / bDiv;
-//
-//                        error += bearingCorrection;
-//
-//                        camTicker++;
-//                        TELE.addData("tx", bearingCorrection);
-//                        TELE.addData("ty", result.getTy());
-//                    }
-//                }
-//
-//            } else {
-//                camTicker = 0;
-//                overrideTurr = false;
-//            }
-
             //HOOD:
 
             if (targetingHood) {
@@ -468,7 +407,6 @@ public class TeleopV3 extends LinearOpMode {
                 autoHoodOffset += 0.02;
 
             }
-//
 
             if (gamepad2.cross) {
                 manualOffset = 0;
@@ -506,129 +444,105 @@ public class TeleopV3 extends LinearOpMode {
 //                }
 //            }
 
-            if (gamepad1.left_bumper && !enableSpindexerManager) {
-
-                robot.transferServo.setPosition(transferServo_out);
-
-                autoSpintake = false;
-
-                intakeTicker++;
-
-                if (intakeTicker % 10 < 1) {
-
-                    robot.spin1.setPower(-1);
-                    robot.spin2.setPower(1);
-
-                } else if (intakeTicker % 10 < 5) {
-                    robot.spin1.setPower(-0.5);
-                    robot.spin2.setPower(0.5);
-                } else if (intakeTicker % 10 < 6) {
-                    robot.spin1.setPower(1);
-                    robot.spin2.setPower(-1);
-                } else {
-                    robot.spin1.setPower(0.5);
-                    robot.spin2.setPower(-0.5);
-                }
-
-                intake = false;
-                reject = false;
-
-                robot.intake.setPower(0.5);
-
-            }
-
-            if (gamepad1.leftBumperWasReleased() && !enableSpindexerManager) {
-                shootStamp = getRuntime();
-                shootAll = true;
-
-                shooterTicker = 0;
-            }
-
-            if (shootAll && !enableSpindexerManager) {
-
-                TELE.addData("100% works", shootOrder);
-
-                intake = false;
-                reject = false;
-
-                shooterTicker++;
-
-                spindexPos = spindexer_intakePos1;
-
-                if (getRuntime() - shootStamp < 3.5) {
-
-                    robot.transferServo.setPosition(transferServo_in);
-
-                    autoSpintake = false;
-
-                    robot.spin1.setPower(-spinPow);
-                    robot.spin2.setPower(spinPow);
-
-                } else {
-                    robot.transferServo.setPosition(transferServo_out);
-                    spindexPos = spindexer_intakePos1;
-
-                    shootAll = false;
-
-                    autoSpintake = true;
-
-                    robot.transferServo.setPosition(transferServo_out);
-                }
-
-            }
-
             if (enableSpindexerManager) {
-                if (!shootAll) {
+                //if (!shootAll) {
                     spindexer.processIntake();
-                }
+                //}
 
                 // RIGHT_BUMPER
-                if (gamepad1.right_bumper) {
+                if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
                     robot.intake.setPower(1);
-
                 } else {
                     robot.intake.setPower(0);
+
                 }
 
                 // LEFT_BUMPER
-                if (!shootAll &&
+                if (!shootAll && gamepad1.leftBumperWasReleased()) {
-                        (gamepad1.leftBumperWasReleased() ||
-                                gamepad1.leftBumperWasPressed() ||
-                                gamepad1.left_bumper)) {
                     shootStamp = getRuntime();
                     shootAll = true;
 
                     shooterTicker = 0;
+
                 }
-
+                intakeTicker++;
                 if (shootAll) {
-
+                    intakeTicker = 0;
                     intake = false;
                     reject = false;
 
-                    shooterTicker++;
+//                    if (servo.getSpinPos() < spindexer_outtakeBall2 + 0.4) {
+//
+//                        if (shooterTicker == 0){
+//                            robot.transferServo.setPosition(transferServo_out);
+//                            robot.spin1.setPosition(spinStartPos);
+//                            robot.spin2.setPosition(1-spinStartPos);
+//                            if (servo.spinEqual(spinStartPos)){
+//                                shooterTicker++;
+//                            }
+//                            TELE.addLine("starting to shoot");
+//                        } else {
+//                            robot.transferServo.setPosition(transferServo_in);
+//                            shooterTicker++;
+//                            double prevSpinPos = servo.getSpinPos();
+//                            robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
+//                            robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
+//                            TELE.addLine("shooting");
+//                        }
 
-                    // TODO: Change starting position based on desired order to shoot green ball
+//                    //robot.intake.setPower(-0.3);
-                    spindexPos = spindexer_intakePos1;
+//                    if (getRuntime() - shootStamp < 3.0) {
+//
+//                        if (shooterTicker == 0 && !servo.spinEqual(ServoPositions.shootAllAutoSpinStartPos)) {
+//                            robot.spin1.setPosition(ServoPositions.shootAllAutoSpinStartPos);
+//                            robot.spin2.setPosition(1 - ServoPositions.shootAllAutoSpinStartPos);
+//                        } else {
+//                            shooterTicker++;
+//                            //robot.intake.setPower(0.0);
+//                            robot.transferServo.setPosition(transferServo_in);
+//                            double prevSpinPos = robot.spin1.getPosition();
+//                            robot.spin1.setPosition(prevSpinPos + ServoPositions.shootAllSpindexerSpeedIncrease);
+//                            robot.spin2.setPosition(1 - prevSpinPos - ServoPositions.shootAllAutoSpinStartPos);
+//                        }
+//
+//                    } else {
+//                        robot.transferServo.setPosition(transferServo_out);
+//                        //spindexPos = spindexer_intakePos1;
+//                        shootAll = false;
+//                        spindexer.resetSpindexer();
+//                        spindexer.processIntake();
+//
+//                    }
 
-                    if (getRuntime() - shootStamp < 3.5) {
 
+                    if (shooterTicker == 0) {
+                        spindexer.prepareShootAllContinous();
+                        TELE.addLine("preparing to shoot");
+//                    } else if (shooterTicker == 2) {
+//                        //robot.transferServo.setPosition(transferServo_in);
+//                        spindexer.shootAll();
+//                        TELE.addLine("starting to shoot");
+                    } else if (!spindexer.shootAllComplete()) {
                         robot.transferServo.setPosition(transferServo_in);
-
+                        TELE.addLine("shoot");
-                        robot.spin1.setPower(-spinPow);
-                        robot.spin2.setPower(spinPow);
-
                     } else {
                         robot.transferServo.setPosition(transferServo_out);
                         //spindexPos = spindexer_intakePos1;
+                        shootAll = false;
+                        spindexer.resetSpindexer();
+                        //spindexer.processIntake();
+                        TELE.addLine("stop shooting");
+                    }
+                    shooterTicker++;
+                    //spindexer.processIntake();
+                }
+
+                if (gamepad1.left_stick_button){
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
 
                     shootAll = false;
-
-                        robot.transferServo.setPosition(transferServo_out);
-
                     spindexer.resetSpindexer();
-                        spindexer.processIntake();
-                    }
                 }
             }
 
@@ -804,42 +718,40 @@ public class TeleopV3 extends LinearOpMode {
                 hub.clearBulkCache();
             }
 //
-            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
+//            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
-            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
+//            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
-            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
+//            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
-
+//
-            TELE.addData("pose", drive.localizer.getPose());
+//            TELE.addData("pose", drive.localizer.getPose());
-            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+//            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
-            TELE.addData("distanceToGoal", distanceToGoal);
+//            TELE.addData("distanceToGoal", distanceToGoal);
-            TELE.addData("hood", robot.hood.getPosition());
+//            TELE.addData("hood", robot.hood.getPosition());
-            TELE.addData("targetVel", vel);
+//            TELE.addData("targetVel", vel);
-            TELE.addData("Velocity", flywheel.getVelo());
+//            TELE.addData("Velocity", flywheel.getVelo());
-            TELE.addData("Velo1", flywheel.velo1);
+//            TELE.addData("Velo1", flywheel.velo1);
-            TELE.addData("Velo2", flywheel.velo2);
+//            TELE.addData("Velo2", flywheel.velo2);
-            TELE.addData("shootOrder", shootOrder);
+//            TELE.addData("shootOrder", shootOrder);
-            TELE.addData("oddColor", oddBallColor);
+//            TELE.addData("oddColor", oddBallColor);
-
+//
-            // Spindexer Debug
+//            // Spindexer Debug
             TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
             TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
             TELE.addData("spinIntakeState", spindexer.currentIntakeState);
             TELE.addData("spinTestCounter", spindexer.counter);
             TELE.addData("autoSpintake", autoSpintake);
-            //TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
+//
-            //TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
+//            TELE.addData("shootall commanded", shootAll);
-            //TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
+//            // Targeting Debug
-            TELE.addData("shootall commanded", shootAll);
+//            TELE.addData("robotX", robotX);
-            // Targeting Debug
+//            TELE.addData("robotY", robotY);
-            TELE.addData("robotX", robotX);
+//            TELE.addData("robotInchesX", targeting.robotInchesX);
-            TELE.addData("robotY", robotY);
+//            TELE.addData( "robotInchesY", targeting.robotInchesY);
-            TELE.addData("robotInchesX", targeting.robotInchesX);
+//            TELE.addData("Targeting Interpolate", turretInterpolate);
-            TELE.addData( "robotInchesY", targeting.robotInchesY);
-            TELE.addData("Targeting Interpolate", turretInterpolate);
             TELE.addData("Targeting GridX", targeting.robotGridX);
             TELE.addData("Targeting GridY", targeting.robotGridY);
             TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
             TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
 
             TELE.update();
 

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

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.colorFilterAlpha;
+
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -18,6 +20,9 @@ public class ColorTest extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        double color1Distance = 0;
+        double color2Distance = 0;
+        double color3Distance = 0;
 
         waitForStart();
         if (isStopRequested()) return;
@@ -26,28 +31,34 @@ public class ColorTest extends LinearOpMode {
             double green1 = robot.color1.getNormalizedColors().green;
             double blue1 = robot.color1.getNormalizedColors().blue;
             double red1 = robot.color1.getNormalizedColors().red;
+            double dist1 = robot.color1.getDistance(DistanceUnit.MM);
+            color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
 
             TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
             TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
-            TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
+            TELE.addData("Color1 distance (mm)", color1Distance);
 
 // ----- COLOR 2 -----
             double green2 = robot.color2.getNormalizedColors().green;
             double blue2 = robot.color2.getNormalizedColors().blue;
             double red2 = robot.color2.getNormalizedColors().red;
+            double dist2 = robot.color2.getDistance(DistanceUnit.MM);
+            color2Distance = (colorFilterAlpha * dist2) + ((1-colorFilterAlpha) * color2Distance);
 
             TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
             TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
-            TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
+            TELE.addData("Color2 distance (mm)", color2Distance);
 
 // ----- COLOR 3 -----
             double green3 = robot.color3.getNormalizedColors().green;
             double blue3 = robot.color3.getNormalizedColors().blue;
             double red3 = robot.color3.getNormalizedColors().red;
+            double dist3 = robot.color3.getDistance(DistanceUnit.MM);
+            color3Distance = (colorFilterAlpha * dist3) + ((1-colorFilterAlpha) * color3Distance);
 
             TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
             TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
-            TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
+            TELE.addData("Color3 distance (mm)", color3Distance);
 
             TELE.update();
         }

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 +4,10 @@ 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.shootAllSpindexerSpeedIncrease;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
+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_intakePos2;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
@@ -38,6 +42,11 @@ public class Spindexer {
     public double distanceFrontDriver = 0.0;
     public double distanceFrontPassenger = 0.0;
 
+    public double spindexerWiggle = 0.01;
+
+    public double spindexerOuttakeWiggle = 0.01;
+    private double prevPos = 0.0;
+    public double spindexerPosOffset = 0.00;
     public Types.Motif desiredMotif = Types.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
@@ -66,16 +75,21 @@ public class Spindexer {
         SHOOTMOVING,
         SHOOTWAIT,
         SHOOT_ALL_PREP,
-        SHOOT_ALL_READY
+        SHOOT_ALL_READY,
-    };
+        SHOOT_PREP_CONTINOUS,
+        SHOOT_CONTINOUS
+    }
+
+    int shootWaitCount = 0;
 
     public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
+    public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
     public int unknownColorDetect = 0;
-    enum BallColor {
+    public enum BallColor {
         UNKNOWN,
         GREEN,
         PURPLE
-    };
+    }
 
     class BallPosition {
         boolean isEmpty = true;
@@ -106,7 +120,9 @@ public class Spindexer {
 
 
     double[] outakePositions =
-            {spindexer_outtakeBall1, spindexer_outtakeBall2, spindexer_outtakeBall3};
+            {spindexer_outtakeBall1+spindexerPosOffset,
+                    spindexer_outtakeBall2+spindexerPosOffset,
+                    spindexer_outtakeBall3+spindexerPosOffset};
 
     double[] intakePositions =
             {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
@@ -132,6 +148,9 @@ public class Spindexer {
         ballPositions[pos].isEmpty = true;
         ballPositions[pos].foundEmpty = 0;
         ballPositions[pos].ballColor = BallColor.UNKNOWN;
+        distanceRearCenter = 61;
+        distanceFrontDriver = 61;
+        distanceFrontPassenger = 61;
     }
 
     public void resetSpindexer () {
@@ -150,12 +169,15 @@ public class Spindexer {
         int spindexerBallPos = 0;
 
         // Read Distances
-        distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+        double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
-        distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+        distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
-        distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+        double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+        distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
+        double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+        distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
 
         // Position 1
-        if (distanceRearCenter < 43) {
+        if (distanceRearCenter < 60) {
 
             // Mark Ball Found
             newPos1Detection = true;
@@ -169,17 +191,17 @@ public class Spindexer {
                 double gP = green / (green + red + blue);
 
                 // FIXIT - Add filtering to improve accuracy.
-                if (gP >= 0.4) {
+                if (gP >= 0.38) {
-                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // green
                 } else {
-                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
                 }
            }
         }
         // Position 2
         // Find which ball position this is in the spindexer
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 60) {
+        if (distanceFrontDriver < 50) {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
             if (detectFrontColor) {
@@ -190,9 +212,9 @@ public class Spindexer {
                 double gP = green / (green + red + blue);
 
                 if (gP >= 0.4) {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
                 } else {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
                 }
             }
         } else {
@@ -207,7 +229,7 @@ public class Spindexer {
 
         // Position 3
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
-        if (distanceFrontPassenger < 33) {
+        if (distanceFrontPassenger < 29) {
 
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
@@ -218,10 +240,10 @@ public class Spindexer {
 
                 double gP = green / (green + red + blue);
 
-                if (gP >= 0.4) {
+                if (gP >= 0.42) {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
                 } else {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
                 }
             }
         } else {
@@ -245,31 +267,65 @@ public class Spindexer {
 
         return newPos1Detection;
     }
-
+    // Has code to unjam spindexer
-    public void moveSpindexerToPos(double pos) {
+    private void moveSpindexerToPos(double pos) {
-        spinCurrentPos = servos.getSpinPos();
+        robot.spin1.setPosition(pos);
-
+        robot.spin2.setPosition(1-pos);
-        double spindexPID = spinPID.calculate(spinCurrentPos, pos);
+//        double currentPos = servos.getSpinPos();
-
+//        if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
-        robot.spin1.setPower(spindexPID);
+//            if (currentPos > pos){
-        robot.spin2.setPower(-spindexPID);
+//                robot.spin1.setPosition(servos.getSpinPos() + 0.05);
+//                robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
+//            } else {
+//                robot.spin1.setPosition(servos.getSpinPos() - 0.05);
+//                robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
+//            }
+//        }
+//        prevPos = currentPos;
     }
 
     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 slotIsEmpty(int slot){
+        return !ballPositions[slot].isEmpty;
     }
 
     public boolean isFull () {
         return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
     }
+
+    private double intakeTicker = 0;
     public boolean processIntake() {
 
         switch (currentIntakeState) {
             case UNKNOWN_START:
                 // For now just set position ONE if UNKNOWN
                 commandedIntakePosition = 0;
-                servos.setSpinPos(intakePositions[0]);
+                moveSpindexerToPos(intakePositions[0]);
                 currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
                 break;
             case UNKNOWN_MOVE:
@@ -298,7 +354,8 @@ public class Spindexer {
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
                     // Maintain Position
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                    spindexerWiggle *= -1.0;
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 }
                 break;
             case FINDNEXT:
@@ -306,32 +363,28 @@ public class Spindexer {
                 double currentSpindexerPos = servos.getSpinPos();
                 double commandedtravelDistance = 2.0;
                 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)) {
+                else 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)) {
+                else 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]);
@@ -340,8 +393,13 @@ public class Spindexer {
             case MOVING:
                 // Stopping when we get to the new position
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    if (intakeTicker > 1){
                         currentIntakeState = Spindexer.IntakeState.INTAKE;
                         stopSpindexer();
+                        intakeTicker = 0;
+                    } else {
+                        intakeTicker++;
+                    }
                     //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
@@ -357,29 +415,29 @@ public class Spindexer {
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 }
                 // Maintain Position
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                spindexerWiggle *= -1.0;
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 break;
 
             case SHOOT_ALL_PREP:
                 // We get here with function call to prepareToShootMotif
                 // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                commandedIntakePosition = 0;
-                    currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_READY;
+                if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
-                } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                    moveSpindexerToPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
                 }
                 break;
 
-            case SHOOT_ALL_READY:
+            case SHOOT_ALL_READY: // Not used
                 // Double Check Colors
                 //detectBalls(false, false); // Minimize hardware calls
                 if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
                     // All ball shot move to intake state
-                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
                 }
                 // Maintain Position
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTNEXT:
@@ -387,23 +445,20 @@ public class Spindexer {
                 if (!ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
+                } else if (!ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
+                } else if (!ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
                 } else {
                     // Empty return to intake state
                     currentIntakeState = IntakeState.FINDNEXT;
                 }
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTMOVING:
@@ -412,25 +467,62 @@ public class Spindexer {
                     currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                    moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 }
                 break;
 
             case SHOOTWAIT:
+                double shootWaitMax = 4;
                 // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                if (prevIntakeState != currentIntakeState) {
-                    currentIntakeState = Spindexer.IntakeState.INTAKE;
+                    if (commandedIntakePosition==2) {
-                    stopSpindexer();
+                        shootWaitMax = 5;
-                    //detectBalls(true, false);
+                    }
+                    shootWaitCount = 0;
                 } else {
+                    shootWaitCount++;
+                }
+                // wait 10 cycles
+                if (shootWaitCount > shootWaitMax) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+                    ballPositions[commandedIntakePosition].isEmpty = true;
+                    shootWaitCount = 0;
+                    //stopSpindexer();
+                    //detectBalls(true, false);
+                }
                 // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                spindexerOuttakeWiggle *= -1.0;
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
+                break;
+
+            case SHOOT_PREP_CONTINOUS:
+                if (servos.spinEqual(spinStartPos)){
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+                } else {
+                    moveSpindexerToPos(spinStartPos);
+                }
+                break;
+
+            case SHOOT_CONTINOUS:
+                ballPositions[0].isEmpty = false;
+                ballPositions[1].isEmpty = false;
+                ballPositions[2].isEmpty = false;
+                if (servos.getSpinPos() > spinEndPos){
+                    currentIntakeState = IntakeState.FINDNEXT;
+                } else {
+                    double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
+                    if (spinPos > spinEndPos + 0.03){
+                        spinPos = spinEndPos + 0.03;
+                    }
+                    moveSpindexerToPos(spinPos);
                 }
                 break;
 
             default:
                 // Statements to execute if no case matches
         }
+
+        prevIntakeState = currentIntakeState;
         //TELE.addData("commandedIntakePosition", commandedIntakePosition);
         //TELE.update();
         // Signal a successful intake
@@ -459,7 +551,7 @@ public class Spindexer {
                 } else if (ballPositions[1].ballColor == BallColor.GREEN) {
                     return 1;
                 } else {
-                    return 3;
+                    return 2;
                 }
                 //break;
             case PPG:
@@ -482,6 +574,36 @@ public class Spindexer {
         commandedIntakePosition = bestFitMotif();
     }
 
+    public void prepareShootAll(){
+        currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
+    }
+    public void prepareShootAllContinous(){
+        currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
+    }
+    public void shootAll () {
+        ballPositions[0].isEmpty = false;
+        ballPositions[1].isEmpty = false;
+        ballPositions[2].isEmpty = false;
+        currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+    }
+    public void shootAllContinous(){
+        ballPositions[0].isEmpty = false;
+        ballPositions[1].isEmpty = false;
+        ballPositions[2].isEmpty = false;
+        currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+    }
+
+    public boolean shootAllComplete ()
+    {
+        return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTNEXT) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTWAIT) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_PREP_CONTINOUS) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
+    }
+
     void shootAllToIntake () {
         currentIntakeState = Spindexer.IntakeState.FINDNEXT;
     }
@@ -489,4 +611,16 @@ public class Spindexer {
     public void update()
     {
     }
+
+    public BallColor GetFrontDriverColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
+    }
+
+    public BallColor GetFrontPassengerColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
+    }
+
+    public BallColor GetRearCenterColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
+    }
 }

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;
 
@@ -65,19 +67,19 @@ public class Targeting {
         KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
         KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
         // ROW 4
-        KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
+        KNOWNTARGETING[4][0] = new Settings (3100, 0.49);
-        KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
+        KNOWNTARGETING[4][1] = new Settings (3100, 0.49);
-        KNOWNTARGETING[4][2] = new Settings (4542.0, 0.1);
+        KNOWNTARGETING[4][2] = new Settings (3100, 0.5);
-        KNOWNTARGETING[4][3] = new Settings (4543.0, 0.1);
+        KNOWNTARGETING[4][3] = new Settings (3200, 0.5);
-        KNOWNTARGETING[4][4] = new Settings (4544.0, 0.1);
+        KNOWNTARGETING[4][4] = new Settings (3250, 0.49);
-        KNOWNTARGETING[4][5] = new Settings (4545.0, 0.1);
+        KNOWNTARGETING[4][5] = new Settings (3300, 0.49);
-        // ROW 1
+        // ROW 5
-        KNOWNTARGETING[5][0] = new Settings (4550.0, 0.1);
+        KNOWNTARGETING[5][0] = new Settings (3200, 0.48);
-        KNOWNTARGETING[5][1] = new Settings (4551.0, 0.1);
+        KNOWNTARGETING[5][1] = new Settings (3200, 0.48);
-        KNOWNTARGETING[5][2] = new Settings (4552.0, 0.1);
+        KNOWNTARGETING[5][2] = new Settings (3300, 0.48);
-        KNOWNTARGETING[5][3] = new Settings (4553.0, 0.1);
+        KNOWNTARGETING[5][3] = new Settings (3350, 0.48);
-        KNOWNTARGETING[5][4] = new Settings (4554.0, 0.1);
+        KNOWNTARGETING[5][4] = new Settings (3350, 0.48);
-        KNOWNTARGETING[5][5] = new Settings (4555.0, 0.1);
+        KNOWNTARGETING[5][5] = new Settings (3350, 0.48);
     }
 
     public Targeting()
@@ -100,12 +102,86 @@ 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 x0 = 0;
+        int y0 = 0;
+        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;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+                (robotGridX > 0) && (robotGridY > 0)) {
+            // -X, -Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+                (robotGridX < 5) && (robotGridY > 0)) {
+            // +X, -Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+                (robotGridX > 0) && (robotGridY < 5)) {
+            // -X, +Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
+            // -X, Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY;
+        } else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
+            // X, -Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
+            // +X, Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY;
+            y1 = robotGridY;
+        } else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
+            // X, +Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else {
+            interpolate = false;
+        }
+
         //clamp
         robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
         robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
 
         // basic search
-        if(!interpolate) {
+        if(true) { //!interpolate) {
             if ((robotGridY < 6) && (robotGridX <6)) {
                 recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
                 recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
@@ -114,27 +190,29 @@ public class Targeting {
         } else {
 
             // bilinear interpolation
-            int x0 = robotGridX;
+            //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 x = (robotInchesX - (x0 * tileSize)) / tileSize;
-            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
+//            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
 
-            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
+//            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
-            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
+//            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
-            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
+//            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
-            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
+//            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
-
+//
-            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
+//            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
-            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
+//            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
-            double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
+//            double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
-            double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
+//            double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
-
-            recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
-            recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
 
+//            recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
+//            recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
+            // Average target tiles
+            recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM)/2.0;
+            recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle)/2.0;
             return recommendedSettings;
         }
     }

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 +19,49 @@ 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;
         this.robot = rob;
         this.webcam = cam;
-        webcam.start();
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
-        if (redAlliance){
-            webcam.pipelineSwitch(3);
-        } else {
-            webcam.pipelineSwitch(2);
-        }
     }
 
     public void zeroTurretEncoder() {
@@ -78,30 +74,30 @@ 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
+    private void limelightRead() { // only for tracking purposes, not general reads
-        if (redAlliance){
+        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();
                 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;
                 }
@@ -116,18 +112,15 @@ 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 +151,50 @@ 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 +207,96 @@ 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

@@ -29,7 +29,7 @@ dependencies {
     implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
     implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
     implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
-    implementation "com.acmerobotics.dashboard:dashboard:0.4.17" //FTC Dash
+    implementation "com.acmerobotics.dashboard:dashboard:0.5.1" //FTC Dash
 
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB