Merge with LimelightTesting.

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

@@ -21,4 +21,6 @@ public class ShooterVars {
     // VELOCITY CONSTANTS
     public static int AUTO_CLOSE_VEL = 3175; //3300;
     public static int AUTO_FAR_VEL = 4000; //TODO: test this
+
+    public static Types.Motif currentMotif = Types.Motif.NONE;
 }

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

@@ -0,0 +1,10 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+public class Types {
+    public enum Motif {
+        NONE,
+        GPP,  // Green, Purple, Purple
+        PGP,  // Purple, Green, Purple
+        PPG   // Purple, Purple, Green
+    }
+}

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

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.constants;
-
-public class blank {
-}

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

@@ -19,6 +19,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -26,7 +27,6 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
@@ -166,10 +166,7 @@ public class TeleopV3 extends LinearOpMode {
 
 //        robot.limelight.start();
 
-        AprilTagWebcam webcam = new AprilTagWebcam();
+        Turret turret = new Turret(robot, TELE, robot.limelight);
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
         waitForStart();
 
         waitForStart();
@@ -399,8 +396,6 @@ public class TeleopV3 extends LinearOpMode {
 
             turret.trackGoal(deltaPose);
 
-            webcam.update();
-
             //VELOCITY AUTOMATIC
             if (targetingVel) {
                 vel = targetingSettings.flywheelRPM;
@@ -637,7 +632,6 @@ public class TeleopV3 extends LinearOpMode {
                 }
             }
 
-
 //
 //            if (shootAll) {
 //

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

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

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

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -63,7 +64,6 @@ public class ShooterTest extends LinearOpMode {
                 robot.hood.setPosition(hoodPos);
             }
 
-
             robot.transfer.setPower(transferPower);
             if (shoot) {
                 robot.transferServo.setPosition(transferServo_in);

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

@@ -8,14 +8,13 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Turret;
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
 @Autonomous
 @Config
 public class TurretTest extends LinearOpMode {
+    public static boolean zeroTurr = false;
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -24,13 +23,9 @@ public class TurretTest extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
 
-        AprilTagWebcam webcam = new AprilTagWebcam();
+        Turret turret = new Turret(robot, TELE, robot.limelight);
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
         waitForStart();
 
-
         MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
 
         while(opModeIsActive()){
@@ -38,10 +33,15 @@ public class TurretTest extends LinearOpMode {
             drive.updatePoseEstimate();
             turret.trackGoal(drive.localizer.getPose());
 
-            webcam.update();
+            TELE.addData("tpos", turret.getTurrPos());
-            webcam.displayAllTelemetry();
+            TELE.addData("Limelight tx", turret.getBearing());
-
+            TELE.addData("Limelight ty", turret.getTy());
+            TELE.addData("Limelight X", turret.getLimelightX());
+            TELE.addData("Limelight Y", turret.getLimelightY());
 
+            if(zeroTurr){
+                turret.zeroTurretEncoder();
+            }
 
             TELE.update();
         }

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

@@ -8,6 +8,8 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
 @TeleOp
 @Config
 public class PositionalServoProgrammer extends LinearOpMode {
@@ -25,11 +27,17 @@ public class PositionalServoProgrammer extends LinearOpMode {
     public static double hoodPos = 0.501;
     public static int mode = 0; //0 for positional, 1 for power
 
+    Turret turret;
+
     @Override
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
+
+
+
+        turret = new Turret(robot, TELE, robot.limelight );
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
@@ -66,12 +74,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
             //TODO: @KeshavAnandCode do the above please
 
             TELE.addData("spindexer pos", servo.getSpinPos());
-            TELE.addData("turret pos", servo.getTurrPos());
+            TELE.addData("turret pos", robot.turr1.getPosition());
             TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
             TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
             TELE.addData("hood pos", robot.hood.getPosition());
             TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
             TELE.addData("spindexer pow", robot.spin1.getPower());
+            TELE.addData("tpos ", turret.getTurrPos() );
             TELE.update();
         }
     }

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

@@ -20,7 +20,7 @@ public class Robot {
 
     //Initialize Public Components
 
-    public static boolean usingLimelight = false;
+    public static boolean usingLimelight = true;
     public static boolean usingCamera = true;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
@@ -79,10 +79,10 @@ public class Robot {
         shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter1.setVelocity(1400);
+        shooter1.setVelocity(0);
         shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter2.setVelocity(1400);
+        shooter2.setVelocity(0);
 
         hood = hardwareMap.get(Servo.class, "hood");
 

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

@@ -16,9 +16,11 @@ import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Types;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
 public class Spindexer {
+
     Robot robot;
     Servos servos;
     Flywheel flywheel;
@@ -36,6 +38,7 @@ public class Spindexer {
     public double distanceFrontDriver = 0.0;
     public double distanceFrontPassenger = 0.0;
 
+    public Types.Motif desiredMotif = Types.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
         REARCENTER,
@@ -62,6 +65,8 @@ public class Spindexer {
         SHOOTNEXT,
         SHOOTMOVING,
         SHOOTWAIT,
+        SHOOT_ALL_PREP,
+        SHOOT_ALL_READY
     };
 
     public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
@@ -327,6 +332,7 @@ public class Spindexer {
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
+                    commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -355,6 +361,28 @@ public class Spindexer {
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
                 break;
 
+            case SHOOT_ALL_PREP:
+                // We get here with function call to prepareToShootMotif
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_READY;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                }
+                break;
+
+            case SHOOT_ALL_READY:
+                // Double Check Colors
+                detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
+                    // All ball shot move to intake state
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                }
+                // Maintain Position
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
             case SHOOTNEXT:
                 // Find Next Open Position and start movement
                 if (!ballPositions[0].isEmpty) {
@@ -383,16 +411,6 @@ public class Spindexer {
                 // Stopping when we get to the new position
                 if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
-                    ballPositions[commandedIntakePosition].isEmpty = true;
-                    // Advance to next full position and wait
-//                    commandedIntakePosition++;
-//                    if (commandedIntakePosition > 2) {
-//                        commandedIntakePosition = 0;
-//                    }
-//                    // Continue moving to next position
-//                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-//                    currentIntakeState = Spindexer.IntakeState.MOVING;
-
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
@@ -420,6 +438,55 @@ public class Spindexer {
         return false;
     }
 
+    public void setDesiredMotif (Types.Motif newMotif) {
+        desiredMotif = newMotif;
+    }
+
+    // Returns the best fit for the motiff
+    public int bestFitMotif () {
+        switch (desiredMotif) {
+            case GPP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 2;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 1;
+                }
+                //break;
+            case PGP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else {
+                    return 3;
+                }
+                //break;
+            case PPG:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 2;
+                }
+                //break;
+            case NONE:
+                return 0;
+                //break;
+        }
+        return 0;
+    }
+
+    void prepareToShootMotif () {
+        commandedIntakePosition = bestFitMotif();
+    }
+
+    void shootAllToIntake () {
+        currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+    }
+
     public void update()
     {
     }

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

@@ -1,3 +1,4 @@
+
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
@@ -5,40 +6,75 @@ import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.hardware.DcMotor;
 
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+import java.util.List;
 
 @Config
 public class Turret {
-
     public static double turretTolerance = 0.02;
-    public static double turrPosScalar = 1.009;
+    public static double turrPosScalar = 0.00011264432;
     public static double turret180Range = 0.4;
     public static double turrDefault = 0.4;
+    // TODO: tune these values for limelight
+// At the top with other static variables:
+    public static double kP = 0.015;  // Proportional gain - tune this first
+    public static double kI = 0.0005; // Integral gain - add slowly if needed
+    public static double kD = 0.002;  // Derivative gain - helps prevent overshoot
+
+    public static double kF = 0.002;  // Derivative gain - helps prevent overshoot
+
+    public static double maxOffset = 10; // degrees - safety limit
+
+    // Add these as instance variables:
+    private double lastTagBearing = 0.0;
+    private double offsetIntegral = 0.0;
+
     public static double cameraBearingEqual = 1;
-    public static double errorLearningRate = 0.15;
+
+
     public static double turrMin = 0.2;
     public static double turrMax = 0.8;
-    public static double deltaAngleThreshold = 0.02;
+    public static double mult = 0.0;
-    public static double angleMultiplier = 0.0;
+    private boolean lockOffset = false;
     Robot robot;
     MultipleTelemetry TELE;
-    AprilTagWebcam webcam;
+    Limelight3A webcam;
     private int obeliskID = 0;
-    private double turrPos = 0.0;
     private double offset = 0.0;
-    private double bearing = 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;
 
-
+    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
-    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
         this.TELE = tele;
         this.robot = rob;
         this.webcam = cam;
+        webcam.start();
+        if (redAlliance){
+            webcam.pipelineSwitch(3);
+        } else {
+            webcam.pipelineSwitch(2);
+        }
+    }
+
+    public void zeroTurretEncoder() {
+        robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
     }
 
     public double getTurrPos() {
-        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3);
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
 
     }
 
@@ -51,36 +87,58 @@ public class Turret {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
-    public double getBearing() {
+    private void limelightRead(){ // only for tracking purposes, not general reads
         if (redAlliance){
-            AprilTagDetection d24 = webcam.getTagById(24);
+            webcam.pipelineSwitch(3);
-            if (d24 != null) {
-                bearing = d24.ftcPose.bearing;
-                return bearing;
         } else {
-                return 1000.0;
+            webcam.pipelineSwitch(2);
         }
-        } else {
+
-            AprilTagDetection d20 = webcam.getTagById(20);
+        LLResult result = webcam.getLatestResult();
-            if (d20 != null) {
+        if (result != null) {
-                bearing = d20.ftcPose.bearing;
+            if (result.isValid()) {
-                return bearing;
+                tx = result.getTx();
-            } else {
+                ty = result.getTy();
-                return 1000.0;
+                // MegaTag1 code for receiving position
+                Pose3D botpose = result.getBotpose();
+                if (botpose != null){
+                    limelightPosX = botpose.getPosition().x;
+                    limelightPosY = botpose.getPosition().y;
+                }
+
             }
         }
     }
 
+    public double getBearing() {
+        tx = 1000;
+        limelightRead();
+        return tx;
+    }
+
+    public double getTy(){
+        limelightRead();
+        return ty;
+    }
+
+    public double getLimelightX(){
+        limelightRead();
+        return limelightPosX;
+    }
+
+    public double getLimelightY(){
+        limelightRead();
+        return limelightPosY;
+    }
+
     public int detectObelisk() {
-        AprilTagDetection id21 = webcam.getTagById(21);
+        webcam.pipelineSwitch(1);
-        AprilTagDetection id22 = webcam.getTagById(22);
+        LLResult result = webcam.getLatestResult();
-        AprilTagDetection id23 = webcam.getTagById(23);
+        if (result != null && result.isValid()) {
-        if (id21 != null) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-            obeliskID = 21;
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
-        } else if (id22 != null) {
+                obeliskID = fiducial.getFiducialId();
-            obeliskID = 22;
+            }
-        } else if (id23 != null) {
-            obeliskID = 23;
         }
         return obeliskID;
     }
@@ -89,13 +147,20 @@ public class Turret {
         return obeliskID;
     }
 
+    public void zeroOffset() {
+        offset = 0.0;
+    }
 
+    public void lockOffset(boolean lock) {
+        lockOffset = lock;
+    }
 
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
     public void trackGoal(Pose2d deltaPos) {
 
+        controller.setPIDF(kP, kI, kD, kF);
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
 
         // Angle from robot to goal in robot frame
@@ -115,24 +180,39 @@ public class Turret {
         while (turretAngleDeg > 180) turretAngleDeg -= 360;
         while (turretAngleDeg < -180) turretAngleDeg += 360;
 
-
         /* ---------------- APRILTAG CORRECTION ---------------- */
 //
         double tagBearingDeg = getBearing();  // + = target is to the left
 
-        if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual) {
-            // Slowly learn turret offset (persistent calibration)
-            offset -= tagBearingDeg * errorLearningRate;
-        }
-
         turretAngleDeg += offset;
 
         /* ---------------- ANGLE → SERVO ---------------- */
 
         double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
 
+        // Clamp to servo range
+        double currentEncoderPos = this.getTurrPos();
+
+        if (!turretEqual(turretPos)) {
+            double diff = turretPos - currentEncoderPos;
+            turretPos = turretPos + diff * mult;
+        }
+
+        if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) {
             // Clamp to servo range
             turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
+        } else { // TODO: add so it only adds error when standstill
+            if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) {
+                // PID-based offset correction for faster, smoother tracking
+
+                // Proportional: respond to current error
+
+                 offset = -controller.calculate(tagBearingDeg);
+
+
+
+            }
+        }
 
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1.0 - turretPos);

build.gradle

@@ -24,6 +24,10 @@ allprojects {
     }
 }
 
+repositories {
     repositories {
         mavenCentral()
+        google()
+        maven { url 'https://maven.pedropathing.com' }
+    }
 }