prototype auto

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

@@ -52,7 +52,7 @@ public class AutoClose_V3 extends LinearOpMode {
     int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
     int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
     int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-    public static double holdTurrPow = 0.1; // power to hold turret in place
+    public static double holdTurrPow = 0.01; // power to hold turret in place
 
     public Action initShooter(int vel) {
         return new Action() {
@@ -103,17 +103,17 @@ public class AutoClose_V3 extends LinearOpMode {
                 if (gpp || pgp || ppg) {
                     if (redAlliance){
                         robot.limelight.pipelineSwitch(3);
-                        double turretPID = turret_redClose;
+                        double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
-                        robot.turr1.setPosition(turretPID);
+                        robot.turr1.setPower(turretPID);
-                        robot.turr2.setPosition(-turretPID);
+                        robot.turr2.setPower(-turretPID);
-                        return false;
+                        return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
 
                     } else {
                         robot.limelight.pipelineSwitch(2);
-                        double turretPID = turret_blueClose;
+                        double turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
-                        robot.turr1.setPosition(turretPID);
+                        robot.turr1.setPower(turretPID);
-                        robot.turr2.setPosition(-turretPID);
+                        robot.turr2.setPower(-turretPID);
-                        return false;
+                        return !servo.turretEqual(turret_blueClose, robot.turr1Pos.getCurrentPosition());
                     }
                 } else {
                     return true;
@@ -132,7 +132,7 @@ public class AutoClose_V3 extends LinearOpMode {
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
 
-                spinPID = servo.setSpinPos(spindexer);
+                spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
                 robot.spin1.setPower(spinPID);
                 robot.spin2.setPower(-spinPID);
                 TELE.addData("Velocity", velo);
@@ -142,7 +142,7 @@ public class AutoClose_V3 extends LinearOpMode {
                 drive.updatePoseEstimate();
                 teleStart = drive.localizer.getPose();
 
-                if (servo.spinEqual(spindexer)){
+                if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
                     robot.spin1.setPower(0);
                     robot.spin2.setPower(0);
                     return false;
@@ -188,8 +188,8 @@ public class AutoClose_V3 extends LinearOpMode {
                     return true;
                 } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
                     robot.transferServo.setPosition(transferServo_out);
-                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr1.setPower(holdTurrPow);
-                    robot.turr2.setPosition(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
                     TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
@@ -222,27 +222,27 @@ public class AutoClose_V3 extends LinearOpMode {
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
-                if (!servo.spinEqual(position)){
+                if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
-                    double spinPID = servo.setSpinPos(position);
+                    double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
                     robot.spin1.setPower(spinPID);
                     robot.spin2.setPower(-spinPID);
                 }
 
-                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
                     if (s2D > 60){
-                        if (servo.spinEqual(spindexer_intakePos1)){
+                        if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos2;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos1;
                         }
                     } else if (s3D > 33){
-                        if (servo.spinEqual(spindexer_intakePos1)){
+                        if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos1;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos2;
                         }
                     }
@@ -411,7 +411,7 @@ public class AutoClose_V3 extends LinearOpMode {
             double turrPID;
 
             if (redAlliance){
-                turrPID = turret_detectRedClose;
+                turrPID = servo.setTurrPos(turret_detectRedClose, robot.turr1Pos.getCurrentPosition());
 
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
@@ -430,7 +430,7 @@ public class AutoClose_V3 extends LinearOpMode {
                 shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
             } else {
-                turrPID = turret_detectBlueClose;
+                turrPID = servo.setTurrPos(turret_detectBlueClose, robot.turr1Pos.getCurrentPosition());
 
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
@@ -450,16 +450,16 @@ public class AutoClose_V3 extends LinearOpMode {
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
             }
 
-            robot.turr1.setPosition(turrPID);
+            robot.turr1.setPower(turrPID);
-            robot.turr2.setPosition(-turrPID);
+            robot.turr2.setPower(-turrPID);
 
             robot.hood.setPosition(hoodAuto);
 
             robot.transferServo.setPosition(transferServo_out);
 
             TELE.addData("Velocity", velo);
-            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
-            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
             TELE.update();
         }
 
@@ -565,10 +565,10 @@ public class AutoClose_V3 extends LinearOpMode {
                 bearing = result.getTx();
             }
         }
-        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
-        double turretPID = turretPos;
+        double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
-        robot.turr1.setPosition(turretPID);
+        robot.turr1.setPower(turretPID);
-        robot.turr2.setPosition(-turretPID);
+        robot.turr2.setPower(-turretPID);
     }
 
     public void shootingSequence() {

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

@@ -52,7 +52,7 @@ public class AutoFar_V1 extends LinearOpMode {
     int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
     int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
     int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-    public static double holdTurrPow = 0.1; // power to hold turret in place
+    public static double holdTurrPow = 0.01; // power to hold turret in place
 
     public Action initShooter(int vel) {
         return new Action() {
@@ -103,18 +103,18 @@ public class AutoFar_V1 extends LinearOpMode {
                 if (gpp || pgp || ppg) {
                     if (redAlliance){
                         robot.limelight.pipelineSwitch(3);
-                        robot.turr1.setPosition(turret_redFar);
+                        double turretPID = servo.setTurrPos(turret_redFar, robot.turr1Pos.getCurrentPosition());
-                        robot.turr2.setPosition(-turret_redFar);
+                        robot.turr1.setPower(turretPID);
+                        robot.turr2.setPower(-turretPID);
+                        return !servo.turretEqual(turret_redFar, robot.turr1Pos.getCurrentPosition());
 
                     } else {
                         robot.limelight.pipelineSwitch(2);
-
+                        double turretPID = servo.setTurrPos(turret_blueFar, robot.turr1Pos.getCurrentPosition());
-                        robot.turr1.setPosition(turret_blueFar);
+                        robot.turr1.setPower(turretPID);
-                        robot.turr2.setPosition(-turret_blueFar);
+                        robot.turr2.setPower(-turretPID);
-
+                        return !servo.turretEqual(turret_blueFar, robot.turr1Pos.getCurrentPosition());
                     }
-
-                    return false;
                 } else {
                     return true;
                 }
@@ -132,7 +132,7 @@ public class AutoFar_V1 extends LinearOpMode {
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
 
-                spinPID = servo.setSpinPos(spindexer);
+                spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
                 robot.spin1.setPower(spinPID);
                 robot.spin2.setPower(-spinPID);
                 TELE.addData("Velocity", velo);
@@ -142,7 +142,7 @@ public class AutoFar_V1 extends LinearOpMode {
                 drive.updatePoseEstimate();
                 teleStart = drive.localizer.getPose();
 
-                if (servo.spinEqual(spindexer)){
+                if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
                     robot.spin1.setPower(0);
                     robot.spin2.setPower(0);
                     return false;
@@ -188,8 +188,8 @@ public class AutoFar_V1 extends LinearOpMode {
                     return true;
                 } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
                     robot.transferServo.setPosition(transferServo_out);
-                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr1.setPower(holdTurrPow);
-                    robot.turr2.setPosition(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
                     TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
@@ -222,27 +222,27 @@ public class AutoFar_V1 extends LinearOpMode {
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
-                if (!servo.spinEqual(position)){
+                if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
-                    double spinPID = servo.setSpinPos(position);
+                    double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
                     robot.spin1.setPower(spinPID);
                     robot.spin2.setPower(-spinPID);
                 }
 
-                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
                     if (s2D > 60){
-                        if (servo.spinEqual(spindexer_intakePos1)){
+                        if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos2;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos1;
                         }
                     } else if (s3D > 33){
-                        if (servo.spinEqual(spindexer_intakePos1)){
+                        if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos1;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
                             position = spindexer_intakePos2;
                         }
                     }
@@ -399,21 +399,21 @@ public class AutoFar_V1 extends LinearOpMode {
             double turrPID;
 
             if (redAlliance){
-                turrPID = turret_detectRedClose;
+                turrPID = servo.setTurrPos(turret_detectRedClose, robot.turr1Pos.getCurrentPosition());
             } else {
-                turrPID = turret_detectBlueClose;
+                turrPID = servo.setTurrPos(turret_detectBlueClose, robot.turr1Pos.getCurrentPosition());
             }
 
-            robot.turr1.setPosition(turrPID);
+            robot.turr1.setPower(turrPID);
-            robot.turr2.setPosition(-turrPID);
+            robot.turr2.setPower(-turrPID);
 
             robot.hood.setPosition(hoodAutoFar);
 
             robot.transferServo.setPosition(transferServo_out);
 
             TELE.addData("Velocity", velo);
-            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
-            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.addData("Spin Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
             TELE.update();
         }
 
@@ -466,10 +466,10 @@ public class AutoFar_V1 extends LinearOpMode {
                 bearing = result.getTx();
             }
         }
-        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
-        double turretPID = turretPos;
+        double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
-        robot.turr1.setPosition(turretPID);
+        robot.turr1.setPower(turretPID);
-        robot.turr2.setPosition(-turretPID);
+        robot.turr2.setPower(-turretPID);
     }
 
     public void shootingSequence() {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue_V2.java

@@ -0,0 +1,839 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+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;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV2")
+public class Blue_V2 extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTagWebcam aprilTag;
+
+    Flywheel flywheel;
+
+    double velo = 0.0;
+    double targetVelocity = 0.0;
+    public static double intake1Time = 2.9;
+
+    public static double intake2Time = 2.9;
+
+    public static double colorDetect = 3.0;
+
+    boolean gpp = false;
+
+    boolean pgp = false;
+
+    boolean ppg = false;
+
+    double powPID = 0.0;
+
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+
+    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    boolean spindexPosEqual(double spindexer) {
+        TELE.addData("Velocity", velo);
+        TELE.addLine("spindex equal");
+        TELE.update();
+        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
+                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
+    }
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            double initPos = 0.0;
+            double stamp = 0.0;
+            double stamp1 = 0.0;
+            double ticker = 0.0;
+            double stamp2 = 0.0;
+            double currentPos = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp2 = getRuntime();
+                }
+
+                targetVelocity = (double) vel;
+                ticker++;
+                if (ticker % 16 == 0) {
+                    stamp = getRuntime();
+                    stamp1 = stamp;
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
+                    steady = true;
+                    stamp2 = getRuntime();
+                    return true;
+                } else if (steady && getRuntime() - stamp2 > 1.5){
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("finished init");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action steadyShooter(int vel, boolean last) {
+        return new Action() {
+            double stamp = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                steady = flywheel.getSteady();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+
+                if (last && !steady){
+                    stamp = getRuntime();
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
+                    return false;
+                } else if (steady) {
+                    stamp = getRuntime();
+                    return true;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            double stamp = getRuntime();
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (aprilTag.getTagById(21) != null) {
+                    gpp = true;
+                } else if (aprilTag.getTagById(22) != null) {
+                    pgp = true;
+                } else if (aprilTag.getTagById(23) != null) {
+                    ppg = true;
+                }
+                aprilTag.update();
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg){
+                    robot.turr1.setPower(turret_blueClose);
+                    robot.turr2.setPower(1 - turret_blueClose);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action intakeReject() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                double position = 0.0;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (getRuntime() - stamp < 0.3){
+                    return true;
+                }else {
+                    robot.intake.setPower(0);
+                    return false;
+                }
+            }
+        };
+    }
+
+    public Action spindex (double spindexer, double vel){
+        return new Action() {
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                ticker++;
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - velo;
+                    double correction = kP * error;
+
+                    // limit how fast power changes (prevents oscillation)
+                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+                    // --- FINAL MOTOR POWER ---
+                    powPID = feed + correction;
+
+                    // clamp to allowed range
+                    powPID = Math.max(0, Math.min(1, powPID));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.spin1.setPower(spindexer);
+                robot.spin2.setPower(1-spindexer);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                return !spindexPosEqual(spindexer);
+            }
+        };
+    }
+
+    public Action Shoot(double vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - velo;
+                    double correction = kP * error;
+
+                    // limit how fast power changes (prevents oscillation)
+                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+                    // --- FINAL MOTOR POWER ---
+                    powPID = feed + correction;
+
+                    // clamp to allowed range
+                    powPID = Math.max(0, Math.min(1, powPID));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                    robot.transferServo.setPosition(transferServo_out);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = 0.0;
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            double position = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 40) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 40) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 30) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        flywheel = new Flywheel();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        aprilTag = new AprilTagWebcam();
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+
+                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        aprilTag.init(robot, TELE);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto-= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.turr1.setPower(turret_detectBlueClose);
+            robot.turr2.setPower(1 - turret_detectBlueClose);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin2.setPower(1 - spindexer_intakePos1);
+
+            aprilTag.update();
+            TELE.addData("Velocity", velo);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.hood.setPosition(hoodAuto);
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+                    )
+            );
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+}

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

@@ -1,59 +1,9 @@
 package org.firstinspires.ftc.teamcode.autonomous;
 
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
-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.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.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.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.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.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.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-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.constants.ServoPositions.turret_blueClose;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
-import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
 
 import androidx.annotation.NonNull;
 
@@ -66,7 +16,6 @@ import com.acmerobotics.roadrunner.ParallelAction;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.hardware.limelightvision.LLResult;
@@ -76,7 +25,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
@@ -85,32 +34,33 @@ import java.util.List;
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class ProtoAutoClose_V3 extends LinearOpMode {
-    public static double intake1Time = 2.7;
-    public static double intake2Time = 3.0;
-    public static double colorDetect = 3.0;
-    public static double holdTurrPow = 0.01; // power to hold turret in place
-    public static double slowSpeed = 30.0;
     Robot robot;
     MultipleTelemetry TELE;
     MecanumDrive drive;
-    Flywheel flywheel;
+    FlywheelV2 flywheel;
     Servos servo;
+
     double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
     boolean gpp = false;
     boolean pgp = false;
     boolean ppg = false;
-    public static double spinUnjamTime = 0.6;
     double powPID = 0.0;
     double bearing = 0.0;
     int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
     int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
     int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+    public static double holdTurrPow = 0.01; // power to hold turret in place
 
     public Action initShooter(int vel) {
         return new Action() {
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                flywheel.manageFlywheel(vel);
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo();
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
@@ -123,7 +73,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     public Action Obelisk() {
         return new Action() {
             int id = 0;
-
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 LLResult result = robot.limelight.getLatestResult();
@@ -137,11 +86,11 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 }
 
-                if (id == 21) {
+                if (id == 21){
                     gpp = true;
-                } else if (id == 22) {
+                } else if (id == 22){
                     pgp = true;
-                } else if (id == 23) {
+                } else if (id == 23){
                     ppg = true;
                 }
 
@@ -152,18 +101,19 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg) {
-                    if (redAlliance) {
+                    if (redAlliance){
                         robot.limelight.pipelineSwitch(3);
-                        robot.turr1.setPosition(turret_redClose);
+                        double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
-                        robot.turr2.setPosition(1 - turret_redClose);
+                        robot.turr1.setPower(turretPID);
-                        return false;
+                        robot.turr2.setPower(-turretPID);
+                        return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
 
                     } else {
                         robot.limelight.pipelineSwitch(2);
-                        double turretPID = turret_blueClose;
+                        double turretPID = servo.setTurrPos(turret_blueClose, robot.turr1Pos.getCurrentPosition());
-                        robot.turr1.setPosition(turretPID);
+                        robot.turr1.setPower(turretPID);
-                        robot.turr2.setPosition(1 - turretPID);
+                        robot.turr2.setPower(-turretPID);
-                        return false;
+                        return !servo.turretEqual(turret_blueClose, robot.turr1Pos.getCurrentPosition());
                     }
                 } else {
                     return true;
@@ -175,13 +125,14 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     public Action spindex(double spindexer, int vel) {
         return new Action() {
             double spinPID = 0.0;
-
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                flywheel.manageFlywheel(vel);
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo();
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
 
-                spinPID = servo.setSpinPos(spindexer);
+                spinPID = servo.setSpinPos(spindexer, robot.spin1Pos.getVoltage());
                 robot.spin1.setPower(spinPID);
                 robot.spin2.setPower(-spinPID);
                 TELE.addData("Velocity", velo);
@@ -191,10 +142,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 drive.updatePoseEstimate();
                 teleStart = drive.localizer.getPose();
 
-                if (servo.spinEqual(spindexer)) {
+                if (servo.spinEqual(spindexer, robot.spin1Pos.getVoltage())){
                     robot.spin1.setPower(0);
                     robot.spin2.setPower(0);
-
                     return false;
                 } else {
                     return true;
@@ -212,7 +162,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
             boolean zeroPassed = false;
             double currentPos = 0.0;
             double prevPos = 0.0;
-            double stamp = 0.0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -220,93 +169,79 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 TELE.addLine("shooting");
                 TELE.update();
 
-                flywheel.manageFlywheel(vel);
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo();
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                robot.turr1.setPower(holdTurrPow);
+                robot.turr2.setPower(holdTurrPow);
 
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
 
-                robot.intake.setPower(-0.3);
+                if (ticker == 1){
-
-                if (ticker == 1) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                robot.intake.setPower(0);
-
-                if (getRuntime() - stamp < 2.7) {
-
                     robot.transferServo.setPosition(transferServo_in);
+                    initPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
 
-                    robot.spin1.setPower(-spinPow);
+                    finalPos = initPos + 0.6;
-                    robot.spin2.setPower(spinPow);
-                    return true;
 
-                } else {
+                    if (finalPos > 1.0){
-                    robot.transferServo.setPosition(transferServo_out);
+                        finalPos = finalPos - 1;
-                    return false;
+                        zeroNeeded = true;
+                    } else if (finalPos > 0.95){
+                        finalPos = 0.0;
+                        zeroNeeded = true;
+                    }
+                    currentPos = initPos;
                 }
-
-            }
-        };
-    }
-
-    public Action spindexUnjam(double jamTime) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-
-
                 ticker++;
 
-                if (ticker == 1) {
+                if (ticker > 16){
-                    stamp = getRuntime();
+                    robot.spin1.setPower(0.08);
+                    robot.spin2.setPower(-0.08);
                 }
 
-                if (ticker % 12 < 6) {
+                prevPos = currentPos;
-
+                currentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
-                    robot.spin1.setPower(-1);
+                if (zeroNeeded){
-                    robot.spin2.setPower(1);
+                    if (currentPos - prevPos < -0.5){
-
+                        zeroPassed = true;
+                    }
+                    if (zeroPassed){
+                        if (currentPos > finalPos){
+                            robot.spin1.setPower(0);
+                            robot.spin2.setPower(0);
+                            return false;
+                        } else {
+                            return true;
+                        }
+                    } else {
+                        return true;
+                    }
                 } else {
-                    robot.spin1.setPower(1);
+                    if (currentPos > finalPos){
-                    robot.spin2.setPower(-1);
+                        robot.spin1.setPower(0);
+                        robot.spin2.setPower(0);
+                        return false;
+                    } else {
+                        return true;
+                    }
                 }
 
-                if (getRuntime() - stamp > jamTime+0.4) {
 
-                    robot.intake.setPower(0.5);
 
-                    return false;
-                }
-                else if (getRuntime() - stamp > jamTime) {
-
-                    robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
-
-                    return true;
-                }
-
-                else {
-                    robot.intake.setPower(1);
-                    return true;
-                }
             }
         };
     }
 
     public Action intake(double intakeTime) {
         return new Action() {
+            double position = spindexer_intakePos1;
             double stamp = 0.0;
             int ticker = 0;
-            double spinCurrentPos = 0.0;
+            double pow = 1.0;
-            double spinInitPos = 0.0;
-            boolean reverse = false;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -315,43 +250,59 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 }
                 ticker++;
 
-                if (ticker % 60 < 12) {
+                robot.intake.setPower(pow);
 
-                    robot.spin1.setPower(-1);
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
-                    robot.spin2.setPower(1);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
-                } else if (ticker % 60 < 30) {
+                if (!servo.spinEqual(position, robot.spin1Pos.getVoltage())){
-                    robot.spin1.setPower(-0.5);
+                    double spinPID = servo.setSpinPos(position, robot.spin1Pos.getVoltage());
-                    robot.spin2.setPower(0.5);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
                 }
-                else if (ticker % 60 < 42) {
+
-                    robot.spin1.setPower(1);
+                if (s1D < 43 && servo.spinEqual(position, robot.spin1Pos.getVoltage()) && getRuntime() - stamp > 0.5){
-                    robot.spin2.setPower(-1);
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1,robot.spin1Pos.getVoltage())){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
                 }
-                else {
+
-                    robot.spin1.setPower(0.5);
+                TELE.addData("Velocity", velo);
-                    robot.spin2.setPower(-0.5);
+                TELE.addLine("Intaking");
-                }
-                robot.intake.setPower(1);
-                TELE.addData("Reverse?", reverse);
                 TELE.update();
 
-                if (getRuntime() - stamp > intakeTime) {
+                drive.updatePoseEstimate();
-                    if (reverse) {
-                        robot.spin1.setPower(-1);
-                        robot.spin2.setPower(1);
-                    } else {
-                        robot.spin1.setPower(1);
-                        robot.spin2.setPower(-1);
-                    }
-                    return false;
-                } else {
-                    if (ticker % 4 == 0) {
-                        spinCurrentPos = servo.getSpinPos();
-                        reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
-                        spinInitPos = spinCurrentPos;
-                    }
 
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    if (getRuntime() - stamp - intakeTime < 1){
+                        pow = -2*(getRuntime() - stamp - intakeTime);
+                        return true;
+                    } else {
+                        robot.intake.setPower(0);
+                        return false;
+                    }
+                } else {
                     return true;
                 }
             }
@@ -362,7 +313,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
         return new Action() {
             double stamp = 0.0;
             int ticker = 0;
-
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 if (ticker == 0) {
@@ -370,8 +320,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 }
                 ticker++;
 
-                flywheel.manageFlywheel(vel);
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo();
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -446,7 +398,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
         robot = new Robot(hardwareMap);
 
-        flywheel = new Flywheel(hardwareMap);
+        flywheel = new FlywheelV2();
 
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -456,7 +408,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 0, 0, 0
         ));
 
-        servo = new Servos(hardwareMap);
+        servo = new Servos();
 
         robot.limelight.pipelineSwitch(1);
         robot.limelight.start();
@@ -466,30 +418,18 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
         TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                 .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
-                new TranslationalVelConstraint(slowSpeed));
-//
-//        TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
-//                .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
 
         TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
         TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                 .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
-                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
-                        new TranslationalVelConstraint(slowSpeed));
 
         TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
-        TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
-                .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
-                        new TranslationalVelConstraint(slowSpeed));
-        TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
         while (opModeInInit()) {
 
             if (gamepad2.dpadUpWasPressed()) {
@@ -500,77 +440,46 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 hoodAuto += 0.01;
             }
 
-            if (gamepad2.crossWasPressed()) {
+            if (gamepad2.crossWasPressed()){
                 redAlliance = !redAlliance;
-
             }
 
-            double turretPID;
+            if (redAlliance){
-            if (redAlliance) {
-                turretPID = turret_redClose;
-
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
 
                 pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
                         .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
-                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
+                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
-                                new TranslationalVelConstraint(slowSpeed));
-
-//                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-//                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
 
                 shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
 
                 pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
                         .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
-                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
+                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
-                                new TranslationalVelConstraint(slowSpeed));
 
                 shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-                pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                        .strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
-                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
-                                new TranslationalVelConstraint(slowSpeed));
-                shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
             } else {
-                turretPID = turret_blueClose;
-
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
                 pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                         .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
+                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
-                                new TranslationalVelConstraint(slowSpeed));
 
                 shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
                 pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                         .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
-                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
-                                new TranslationalVelConstraint(slowSpeed));
 
                 shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-                pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                        .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
-                        .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
-                                new TranslationalVelConstraint(slowSpeed));
-                shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
             }
 
-            robot.turr1.setPosition(turretPID);
-            robot.turr2.setPosition(1 - turretPID);
-
             robot.hood.setPosition(hoodAuto);
 
             robot.transferServo.setPosition(transferServo_out);
@@ -616,10 +525,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
             teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
-                    new SequentialAction(
+                    new ParallelAction(
-                            shoot1.build(),
+                            shoot1.build()
-                            spindexUnjam(spinUnjamTime)
-
                     )
             );
 
@@ -649,36 +556,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             Actions.runBlocking(
                     new ParallelAction(
-                            shoot2.build(),
+                            shoot2.build()
-                            spindexUnjam(spinUnjamTime)
-                    )
-            );
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup3.build(),
-                            intake(intake2Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot3.build(),
-                            spindexUnjam(spinUnjamTime)
-
                     )
             );
 
@@ -701,7 +579,6 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
         }
 
     }
-
     //TODO: adjust this according to Teleop numbers
     public void detectTag() {
         LLResult result = robot.limelight.getLatestResult();
@@ -710,9 +587,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 bearing = result.getTx();
             }
         }
-        double turretPos = (bearing / 1300);
+        double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
-        robot.turr1.setPosition(turretPos);
+        double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
-        robot.turr2.setPosition(1 - turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
     }
 
     public void shootingSequence() {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red_V2.java

@@ -0,0 +1,771 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+
+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.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV2")
+public class Red_V2 extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTagWebcam aprilTag;
+
+    Flywheel flywheel;
+
+    Servos servo;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.9;
+
+    public static double intake2Time = 2.9;
+
+    public static double colorDetect = 3.0;
+
+    boolean gpp = false;
+
+    boolean pgp = false;
+
+    boolean ppg = false;
+
+    double powPID = 0.0;
+
+    double bearing = 0.0;
+
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+
+    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            double stamp1 = 0.0;
+            double ticker = 0.0;
+            double stamp2 = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp2 = getRuntime();
+                }
+
+                ticker++;
+                if (ticker % 16 == 0) {
+                    stamp = getRuntime();
+                    stamp1 = stamp;
+                }
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
+                    steady = true;
+                    stamp2 = getRuntime();
+                    return true;
+                } else if (steady && getRuntime() - stamp2 > 1.5){
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("finished init");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action steadyShooter(int vel, boolean last) {
+        return new Action() {
+            double stamp = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                steady = flywheel.getSteady();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                detectTag();
+
+                if (last && !steady){
+                    stamp = getRuntime();
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
+                    return false;
+                } else if (steady) {
+                    stamp = getRuntime();
+                    return true;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            double stamp = getRuntime();
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (aprilTag.getTagById(21) != null) {
+                    gpp = true;
+                } else if (aprilTag.getTagById(22) != null) {
+                    pgp = true;
+                } else if (aprilTag.getTagById(23) != null) {
+                    ppg = true;
+                }
+                aprilTag.update();
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg){
+                    double turretPID = servo.setTurrPos(turret_redClose, robot.turr1Pos.getCurrentPosition());
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turret_redClose, robot.turr1Pos.getCurrentPosition());
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex (double spindexer, int vel){
+        return new Action() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.spin1.setPower(spindexer);
+                robot.spin2.setPower(1-spindexer);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                return !servo.spinEqual(spindexer, robot.spin1Pos.getVoltage());
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                    robot.transferServo.setPosition(transferServo_out);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = 0.0;
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action intakeReject() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (getRuntime() - stamp < 0.3){
+                    return true;
+                }else {
+                    robot.intake.setPower(0);
+                    return false;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            double position = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 40) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 40) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 30) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        flywheel = new Flywheel();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        aprilTag = new AprilTagWebcam();
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
+                .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+
+                .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+
+                .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        aprilTag.init(robot, TELE);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto-= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin2.setPower(1 - spindexer_intakePos1);
+
+            aprilTag.update();
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
+            TELE.update();
+        }
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.hood.setPosition(hoodAuto);
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+
+                    )
+            );
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    public void detectTag(){
+        AprilTagDetection d20 = aprilTag.getTagById(20);
+        AprilTagDetection d24 = aprilTag.getTagById(24);
+
+        if (d20 != null) {
+            bearing = d20.ftcPose.bearing;
+            TELE.addData("Bear", bearing);
+        }
+
+        if (d24 != null) {
+            bearing = d24.ftcPose.bearing;
+            TELE.addData("Bear", bearing);
+        }
+        double turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+}

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

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

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

@@ -12,32 +12,22 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
+    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
 
     public static double rx1 = 40, ry1 = -7, rh1 = 0;
-    public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
+    public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
-    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
+    public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
+    public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
+    public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
 
-    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
+    public static double bx1 = 40, by1 = 6, bh1 = 0;
+    public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
+    public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
+    public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
+    public static double bx3b = 34, by3b = -58, bh3b = 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 rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
-    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
-
-    public static double bx1 = 40, by1 = 7, bh1 = 0;
-    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
-    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
-    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
-
-    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 Pose2d teleStart = new Pose2d(0, 0, 0);
+    public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
 
 }

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

@@ -5,16 +5,16 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.19;
+    public static double spindexer_intakePos1 = 0.34;
 
-    public static double spindexer_intakePos2 = 0.35;//0.5;
+    public static double spindexer_intakePos2 = 0.5;
 
-    public static double spindexer_intakePos3 = 0.51;//0.66;
+    public static double spindexer_intakePos3 = 0.66;
 
-    public static double spindexer_outtakeBall3 = 0.47;
+    public static double spindexer_outtakeBall3 = 0.42;
 
-    public static double spindexer_outtakeBall2 = 0.31;
+    public static double spindexer_outtakeBall2 = 0.74;
-    public static double spindexer_outtakeBall1 = 0.15;
+    public static double spindexer_outtakeBall1 = 0.58;
 
     public static double transferServo_out = 0.15;
 
@@ -24,7 +24,7 @@ public class ServoPositions {
 
     public static double hoodDefault = 0.6;
 
-    public static double hoodAuto = 0.27;
+    public static double hoodAuto = 0.22;
 
     public static double hoodAutoFar = 0.5; //TODO: change this;
 
@@ -40,10 +40,6 @@ public class ServoPositions {
     public static double turret_detectRedClose = 0.2;
 
     public static double turret_detectBlueClose = 0.6;
-    public static double turrDefault = 0.4;
+    public static double turrDefault = 0.40;
-
-    public static double turrMin = 0.2;
-    public static double turrMax = 0.8;
-
 
 }

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

@@ -19,6 +19,6 @@ public class ShooterVars {
     public static double maxStep = 0.06;         // prevents sudden jumps
 
     // VELOCITY CONSTANTS
-    public static int AUTO_CLOSE_VEL = 3175; //3300;
+    public static int AUTO_CLOSE_VEL = 3025; //3300;
     public static int AUTO_FAR_VEL = 4000; //TODO: test this
 }

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;
@@ -56,15 +46,56 @@ 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 class Params {
+        // IMU orientation
+        // TODO: fill in these values based on
+        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
+        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
+                RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
+        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
+                RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
+
+        // drive model parameters
+        public double inPerTick = 0.001978956;
+        public double lateralInPerTick = 0.0013863732202094405;
+        public double trackWidthTicks = 6488.883015684446;
+
+        // feedforward parameters (in tick units)
+        public double kS = 1.2147826978829488;
+        public double kV = 0.00032;
+        public double kA = 0.000046;
+
+        // path profile parameters (in inches)
+        public double maxWheelVel = 180;
+        public double minProfileAccel = -40;
+        public double maxProfileAccel = 180;
+
+        // turn profile parameters (in radians)
+        public double maxAngVel = 4* Math.PI; // shared with path
+        public double maxAngAccel = 4* Math.PI;
+
+        // path controller gains
+        public double axialGain = 4;
+        public double lateralGain = 4;
+        public double headingGain = 4; // shared with turn
+
+        public double axialVelGain = 0.0;
+        public double lateralVelGain = 0.0;
+        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 =
@@ -74,15 +105,117 @@ public final class MecanumDrive {
             ));
     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;
+
+        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
+        private Rotation2d lastHeading;
+        private boolean initialized;
+        private Pose2d pose;
+
+        public DriveLocalizer(Pose2d pose) {
+            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
+            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
+            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
+            rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
+
+            imu = lazyImu.get();
+
+            // TODO: reverse encoders if needed
+            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+            this.pose = pose;
+        }
+
+        @Override
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
+        }
+
+        @Override
+        public Pose2d getPose() {
+            return pose;
+        }
+
+        @Override
+        public PoseVelocity2d update() {
+            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
+            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
+            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
+            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
+
+            YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
+
+            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
+                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
+
+            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
+
+            if (!initialized) {
+                initialized = true;
+
+                lastLeftFrontPos = leftFrontPosVel.position;
+                lastLeftBackPos = leftBackPosVel.position;
+                lastRightBackPos = rightBackPosVel.position;
+                lastRightFrontPos = rightFrontPosVel.position;
+
+                lastHeading = heading;
+
+                return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
+            }
+
+            double headingDelta = heading.minus(lastHeading);
+            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
+                    new DualNum<Time>(new double[]{
+                            (leftFrontPosVel.position - lastLeftFrontPos),
+                            leftFrontPosVel.velocity,
+                            }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (leftBackPosVel.position - lastLeftBackPos),
+                            leftBackPosVel.velocity,
+                            }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightBackPosVel.position - lastRightBackPos),
+                            rightBackPosVel.velocity,
+                            }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightFrontPosVel.position - lastRightFrontPos),
+                            rightFrontPosVel.velocity,
+                            }).times(PARAMS.inPerTick)
+            ));
+
+            lastLeftFrontPos = leftFrontPosVel.position;
+            lastLeftBackPos = leftBackPosVel.position;
+            lastRightBackPos = rightBackPosVel.position;
+            lastRightFrontPos = rightFrontPosVel.position;
+
+            lastHeading = heading;
+
+            pose = pose.plus(new Twist2d(
+                    twist.line.value(),
+                    headingDelta
+            ));
+
+            return twist.velocity().value();
+        }
+    }
+
     public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
         LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
 
@@ -135,191 +268,12 @@ public final class MecanumDrive {
         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
-        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-                RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
-
-        // drive model parameters
-        public double inPerTick = 0.001978956;
-        public double lateralInPerTick = 0.0013863732202094405;
-        public double trackWidthTicks = 6488.883015684446;
-
-        // feedforward parameters (in tick units)
-        public double kS = 1.2147826978829488;
-        public double kV = 0.00032;
-        public double kA = 0.000046;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 180;
-        public double minProfileAccel = -40;
-        public double maxProfileAccel = 180;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = 4 * Math.PI; // shared with path
-        public double maxAngAccel = 4 * Math.PI;
-
-        // path controller gains
-        public double axialGain = 4;
-        public double lateralGain = 4;
-        public double headingGain = 4; // shared with turn
-
-        public double axialVelGain = 0.0;
-        public double lateralVelGain = 0.0;
-        public double headingVelGain = 0.0; // shared with turn
-    }
-
-    public class DriveLocalizer implements Localizer {
-        public final Encoder leftFront, leftBack, rightBack, rightFront;
-        public final IMU imu;
-
-        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
-        private Rotation2d lastHeading;
-        private boolean initialized;
-        private Pose2d pose;
-
-        public DriveLocalizer(Pose2d pose) {
-            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
-            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
-            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
-            rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
-
-            imu = lazyImu.get();
-
-            // TODO: reverse encoders if needed
-            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-            this.pose = pose;
-        }
-
-        @Override
-        public Pose2d getPose() {
-            return pose;
-        }
-
-        @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
-        }
-
-        @Override
-        public PoseVelocity2d update() {
-            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
-            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
-            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
-            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
-
-            YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
-
-            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
-                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
-
-            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
-
-            if (!initialized) {
-                initialized = true;
-
-                lastLeftFrontPos = leftFrontPosVel.position;
-                lastLeftBackPos = leftBackPosVel.position;
-                lastRightBackPos = rightBackPosVel.position;
-                lastRightFrontPos = rightFrontPosVel.position;
-
-                lastHeading = heading;
-
-                return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
-            }
-
-            double headingDelta = heading.minus(lastHeading);
-            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
-                    new DualNum<Time>(new double[]{
-                            (leftFrontPosVel.position - lastLeftFrontPos),
-                            leftFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (leftBackPosVel.position - lastLeftBackPos),
-                            leftBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightBackPosVel.position - lastRightBackPos),
-                            rightBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightFrontPosVel.position - lastRightFrontPos),
-                            rightFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick)
-            ));
-
-            lastLeftFrontPos = leftFrontPosVel.position;
-            lastLeftBackPos = leftBackPosVel.position;
-            lastRightBackPos = rightBackPosVel.position;
-            lastRightFrontPos = rightFrontPosVel.position;
-
-            lastHeading = heading;
-
-            pose = pose.plus(new Twist2d(
-                    twist.line.value(),
-                    headingDelta
-            ));
-
-            return twist.velocity().value();
-        }
-    }
-
     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

@@ -128,8 +128,8 @@ public class TeleopV2 extends LinearOpMode {
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
-        servo = new Servos(hardwareMap);
+        servo = new Servos();
-        flywheel = new Flywheel(hardwareMap);
+        flywheel = new Flywheel();
 
         drive = new MecanumDrive(hardwareMap, teleStart);
 
@@ -158,10 +158,14 @@ public class TeleopV2 extends LinearOpMode {
             robot.frontRight.setPower(frontRightPower);
             robot.backRight.setPower(backRightPower);
 
+            // PID SERVOS
+            turretPID = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
+            robot.turr1.setPower(turretPID);
+            robot.turr2.setPower(-turretPID);
 
             //TODO: make sure changing position works throughout opmode
-            if (!servo.spinEqual(spindexPos)){
+            if (!servo.spinEqual(spindexPos, robot.spin1Pos.getVoltage())){
-                spindexPID = servo.setSpinPos(spindexPos);
+                spindexPID = servo.setSpinPos(spindexPos, robot.spin1Pos.getVoltage());
                 robot.spin1.setPower(spindexPID);
                 robot.spin2.setPower(-spindexPID);
             } else{
@@ -282,9 +286,12 @@ public class TeleopV2 extends LinearOpMode {
 
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel);
+            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
 
-             robot.transfer.setPower(1);
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            robot.transfer.setPower(1);
 
             //TURRET:
 
@@ -341,7 +348,7 @@ public class TeleopV2 extends LinearOpMode {
                         bearing = d24.ftcPose.bearing;
                     }
                     overrideTurr = true;
-                    turretPos = servo.getTurrPos() - (bearing/1300);
+                    turretPos = servo.getTurrPos(robot.turr1Pos.getCurrentPosition()) - (bearing/1300);
                     TELE.addData("Bear", bearing);
 
                     double bearingCorrection = bearing / 1300;
@@ -474,13 +481,13 @@ public class TeleopV2 extends LinearOpMode {
                     boolean shootingDone = false;
 
                     if (!outtake1) {
-                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
+                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1, robot.spin1Pos.getVoltage()));
                     }
                     if (!outtake2) {
-                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2, robot.spin1Pos.getVoltage()));
                     }
                     if (!outtake3) {
-                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
+                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3, robot.spin1Pos.getVoltage()));
                     }
 
                     switch (currentSlot) {

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

@@ -53,7 +53,7 @@ public class IntakeTest extends LinearOpMode {
             hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
         }
         robot = new Robot(hardwareMap);
-        servo = new Servos(hardwareMap);
+        servo = new Servos();
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
 
         waitForStart();
@@ -65,7 +65,7 @@ public class IntakeTest extends LinearOpMode {
                 if (gamepad1.right_bumper) {
                     ticker++;
                     if (ticker % 16 == 0){
-                        currentPos = servo.getSpinPos();
+                        currentPos = servo.getSpinPos(robot.spin1Pos.getVoltage());
                         if (Math.abs(currentPos - initPos) == 0.0){
                             reverse = !reverse;
                         }
@@ -109,19 +109,19 @@ public class IntakeTest extends LinearOpMode {
 
                 if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
                     if (!ballIn(2)){
-                        if (servo.spinEqual(spindexer_intakePos1)){
+                        if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
                             spindexerPos = spindexer_intakePos2;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
                             spindexerPos = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
                             spindexerPos = spindexer_intakePos1;
                         }
                     } else if (!ballIn(3)){
-                        if (servo.spinEqual(spindexer_intakePos1)){
+                        if (servo.spinEqual(spindexer_intakePos1, robot.spin1Pos.getVoltage())){
                             spindexerPos = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                        } else if (servo.spinEqual(spindexer_intakePos2, robot.spin1Pos.getVoltage())){
                             spindexerPos = spindexer_intakePos1;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                        } else if (servo.spinEqual(spindexer_intakePos3, robot.spin1Pos.getVoltage())){
                             spindexerPos = spindexer_intakePos2;
                         }
                     }
@@ -158,7 +158,7 @@ public class IntakeTest extends LinearOpMode {
             TELE.addData("B1", ballIn(1));
             TELE.addData("B2", ballIn(2));
             TELE.addData("B3", ballIn(3));
-            TELE.addData("Spindex Pos", servo.getSpinPos());
+            TELE.addData("Spindex Pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
             TELE.update();
         }
     }
@@ -187,10 +187,10 @@ public class IntakeTest extends LinearOpMode {
     }
 
     public void spindexer() {
-        boolean atTarget = servo.spinEqual(spindexerPos);
+        boolean atTarget = servo.spinEqual(spindexerPos, robot.spin1Pos.getVoltage());
 
         if (!atTarget) {
-            powPID = servo.setSpinPos(spindexerPos);
+            powPID = servo.setSpinPos(spindexerPos, robot.spin1Pos.getVoltage());
             robot.spin1.setPower(powPID);
             robot.spin2.setPower(-powPID);
 

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

@@ -20,7 +20,7 @@ public class LimelightTest extends LinearOpMode {
     public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
     @Override
     public void runOpMode() throws InterruptedException {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         limelight.pipelineSwitch(pipeline);
         waitForStart();

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

@@ -6,6 +6,8 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
@@ -31,7 +33,7 @@ public class PIDServoTest extends LinearOpMode {
 
         PIDFController controller = new PIDFController(p, i, d, f);
 
-        controller.setTolerance(0.001);
+        controller.setTolerance(0);
         robot = new Robot(hardwareMap);
 
         telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
@@ -42,7 +44,15 @@ public class PIDServoTest extends LinearOpMode {
 
         while (opModeIsActive()) {
             controller.setPIDF(p, i, d, f);
-            if (mode == 1) {
+
+            if (mode == 0) {
+                pos = robot.turr1Pos.getCurrentPosition();
+
+                double pid = controller.calculate(pos, target);
+
+                robot.turr1.setPower(pid);
+                robot.turr2.setPower(-pid);
+            } else if (mode == 1) {
                 pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
 
                 double pid = controller.calculate(pos, target);
@@ -52,6 +62,7 @@ public class PIDServoTest extends LinearOpMode {
             }
 
             telemetry.addData("pos", pos);
+            telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
             telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
             telemetry.addData("target", target);
             telemetry.addData("Mode", mode);
@@ -60,5 +71,4 @@ public class PIDServoTest extends LinearOpMode {
         }
 
     }
-
 }

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

@@ -9,7 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
@@ -21,17 +21,12 @@ public class ShooterTest extends LinearOpMode {
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
-    public static double Velocity = 0.0;
-    public static double P = 40.0;
-    public static double I = 0.3;
-    public static double D = 7.0;
-    public static double F = 10.0;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
     Robot robot;
-    Flywheel flywheel;
+    FlywheelV2 flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -39,7 +34,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new Flywheel(hardwareMap);
+        flywheel = new FlywheelV2();
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -55,14 +50,20 @@ public class ShooterTest extends LinearOpMode {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                flywheel.setPIDF(P,I,D,F);
+                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                flywheel.manageFlywheel((int) Velocity);
+                rightShooter.setPower(powPID);
+                leftShooter.setPower(powPID);
+                TELE.addData("PIDPower", powPID);
             }
 
             if (hoodPos != 0.501) {
                 robot.hood.setPosition(hoodPos);
             }
 
+            if (turretPos != 0.501) {
+                robot.turr1.setPower(turretPos);
+                robot.turr2.setPower(turretPos);
+            }
 
             robot.transfer.setPower(transferPower);
             if (shoot) {
@@ -70,7 +71,7 @@ public class ShooterTest extends LinearOpMode {
             } else {
                 robot.transferServo.setPosition(transferServo_out);
             }
-            TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());
             TELE.addData("Power", robot.shooter1.getPower());

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

@@ -1,50 +0,0 @@
-package org.firstinspires.ftc.teamcode.tests;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.Pose2d;
-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 {
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        Robot robot = new Robot(hardwareMap);
-        MultipleTelemetry TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        AprilTagWebcam webcam = new AprilTagWebcam();
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
-        waitForStart();
-
-
-        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
-
-        while(opModeIsActive()){
-
-            drive.updatePoseEstimate();
-            turret.trackGoal(drive.localizer.getPose());
-
-            webcam.update();
-            webcam.displayAllTelemetry();
-
-
-
-            TELE.update();
-        }
-
-    }
-}

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

@@ -1,76 +1,88 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import com.qualcomm.robotcore.hardware.DcMotor;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
-import com.qualcomm.robotcore.hardware.HardwareMap;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
 
-import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 
 public class Flywheel {
     Robot robot;
-    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+    MultipleTelemetry TELE;
+
+    double initPos = 0.0;
+    double stamp = 0.0;
+    double stamp1 = 0.0;
+    double ticker = 0.0;
+    double currentPos = 0.0;
     double velo = 0.0;
     double velo1 = 0.0;
     double velo2 = 0.0;
+    double velo3 = 0.0;
+    double velo4 = 0.0;
+    double velo5 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
-    public Flywheel (HardwareMap hardwareMap) {
+    public Flywheel () {
-        robot = new Robot(hardwareMap);
+        //robot = new Robot(hardwareMap);
-        shooterPIDF1 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
-        shooterPIDF2 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
     }
 
     public double getVelo () {
         return velo;
     }
-    public double getVelo1 () {
-        return velo1;
-    }
-    public double getVelo2 () {
-        return velo2;
-    }
 
     public boolean getSteady() {
         return steady;
     }
 
-    // Set the robot PIDF for the next cycle.
+    private double getTimeSeconds ()
-    public void setPIDF(double p, double i, double d, double f) {
+    {
-        robot.shooterPIDF.p = p;
+        return (double) System.currentTimeMillis()/1000.0;
-        robot.shooterPIDF.i = i;
-        robot.shooterPIDF.d = d;
-        robot.shooterPIDF.f = f;
     }
 
-    // Convert from RPM to Ticks per Second
-    private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
 
-    // Convert from Ticks per Second to RPM
+    public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
-    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
-
-    public double manageFlywheel(double commandedVelocity) {
         targetVelocity = commandedVelocity;
 
-        // Add code here to set PIDF based on desired RPM
+        ticker++;
-        //robot.shooterPIDF.p = P;
+        if (ticker % 2 == 0) {
-        //robot.shooterPIDF.i = I;
+            velo5 = velo4;
-        //robot.shooterPIDF.d = D;
+            velo4 = velo3;
-        //robot.shooterPIDF.f = F;
+            velo3 = velo2;
+            velo2 = velo1;
 
-        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+            currentPos = shooter1CurPos / 2048;
-        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+            stamp = getTimeSeconds(); //getRuntime();
-        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+            velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
-        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+            initPos = currentPos;
+            stamp1 = stamp;
 
-        // Record Current Velocity
+            velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
-        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        }
-        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        // Flywheel control code here
-        velo = Math.max(velo1,velo2);
+        if (targetVelocity - velo > 500) {
+            powPID = 1.0;
+        } else if (velo - targetVelocity > 500){
+            powPID = 0.0;
+        } else {
+            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
+
+            // --- PROPORTIONAL CORRECTION ---
+            double error = targetVelocity - velo;
+            double correction = kP * error;
+
+            // limit how fast power changes (prevents oscillation)
+            correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+            // --- FINAL MOTOR POWER ---
+            powPID = feed + correction;
+
+            // clamp to allowed range
+            powPID = Math.max(0, Math.min(1, powPID));
+        }
 
         // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 200.0);
+        steady = (Math.abs(targetVelocity - velo) < 100.0);
 
         return powPID;
     }
@@ -78,4 +90,4 @@ public class Flywheel {
     public void update()
     {
     }
-}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/FlywheelV2.java

@@ -73,18 +73,12 @@ public class FlywheelV2 {
         targetVelocity = commandedVelocity;
         velo = getVelo(shooter1CurPos, shooter2CurPos);
         // Flywheel PID code here
-        if (targetVelocity - velo > 4500) {
+        if (targetVelocity - velo > 500) {
             powPID = 1.0;
-        } else if (velo - targetVelocity > 4500) {
+        } else if (velo - targetVelocity > 500) {
             powPID = 0.0;
         } else {
-
+            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
-            double a = 2539.07863;
-            double c = 1967.6498;
-            double d = -0.289647;
-            double h = -1.1569;
-
-            double feed = Math.log10((a / (targetVelocity + c)) + d) / h;
 
             // --- PROPORTIONAL CORRECTION ---
             double error = targetVelocity - velo;

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

@@ -29,12 +29,12 @@ public class PositionalServoProgrammer extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        servo = new Servos(hardwareMap);
+        servo = new Servos();
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
-            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
+            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos, robot.spin1Pos.getVoltage()) && mode == 0){
-                double pos = servo.setSpinPos(spindexPos);
+                double pos = servo.setSpinPos(spindexPos, robot.spin1Pos.getVoltage());
                 robot.spin1.setPower(pos);
                 robot.spin2.setPower(-pos);
             } else if (mode == 0){
@@ -44,9 +44,16 @@ public class PositionalServoProgrammer extends LinearOpMode {
                 robot.spin1.setPower(spindexPow);
                 robot.spin2.setPower(-spindexPow);
             }
-            if (turretPos != 0.501){
+            if (turretPos != 0.501 && !servo.turretEqual(turretPos, robot.turr1Pos.getCurrentPosition())){
-                robot.turr1.setPosition(turretPos);
+                double pos = servo.setTurrPos(turretPos, robot.turr1Pos.getCurrentPosition());
-                robot.turr2.setPosition(1-turretPos);
+                robot.turr1.setPower(pos);
+                robot.turr2.setPower(-pos);
+            } else if (mode == 0){
+                robot.turr1.setPower(turrHoldPow);
+                robot.turr2.setPower(turrHoldPow);
+            } else {
+                robot.turr1.setPower(turretPow);
+                robot.turr2.setPower(-turretPow);
             }
             if (transferPos != 0.501){
                 robot.transferServo.setPosition(transferPos);
@@ -65,12 +72,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
                 // If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
             //TODO: @KeshavAnandCode do the above please
 
-            TELE.addData("spindexer pos", servo.getSpinPos());
+            TELE.addData("spindexer pos", servo.getSpinPos(robot.spin1Pos.getVoltage()));
-            TELE.addData("turret pos", servo.getTurrPos());
+            TELE.addData("turret pos", servo.getTurrPos(robot.turr1Pos.getCurrentPosition()));
             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("turret voltage", robot.turr1Pos.getCurrentPosition());
             TELE.addData("spindexer pow", robot.spin1.getPower());
             TELE.update();
         }

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

@@ -1,6 +1,5 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -9,42 +8,32 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
-@Config
 public class Robot {
 
     //Initialize Public Components
 
-    public static boolean usingLimelight = false;
-    public static boolean usingCamera = true;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
     public DcMotorEx backRight;
     public DcMotorEx intake;
     public DcMotorEx transfer;
-    public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
-    public double shooterPIDF_I = 0.6;
-    public double shooterPIDF_D = 5.0;
-    public double shooterPIDF_F = 10.0;
-    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
     public Servo transferServo;
-    public Servo turr1;
+    public CRServo turr1;
-    public Servo turr2;
+    public CRServo turr2;
     public CRServo spin1;
     public CRServo spin2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
-    public AnalogInput turr1Pos;
+    public DcMotorEx turr1Pos;
     public AnalogInput transferServoPos;
     public AprilTagProcessor aprilTagProcessor;
     public WebcamName webcam;
@@ -53,6 +42,10 @@ public class Robot {
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
 
+    public static boolean usingLimelight = true;
+
+    public static boolean usingCamera = true;
+
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
@@ -76,21 +69,16 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
         //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
+        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter1.setVelocity(1400);
-        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter2.setVelocity(1400);
 
         hood = hardwareMap.get(Servo.class, "hood");
 
-        turr1 = hardwareMap.get(Servo.class, "t1");
+        turr1 = hardwareMap.get(CRServo.class, "t1");
 
-        turr2 = hardwareMap.get(Servo.class, "t2");
+        turr2 = hardwareMap.get(CRServo.class, "t2");
 
-        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
+        turr1Pos = intake; // 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");
@@ -119,9 +107,9 @@ public class Robot {
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
 
-        if (usingLimelight) {
+        if (usingLimelight){
             limelight = hardwareMap.get(Limelight3A.class, "limelight");
-        } else if (usingCamera) {
+        } else if (usingCamera){
             webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
             aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }

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

@@ -6,53 +6,54 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 
 @Config
 public class Servos {
+    Robot robot;
+
+    PIDFController spinPID;
+
+    PIDFController turretPID;
+
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
-    public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
+    public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
+
     public static double spin_scalar = 1.0086;
     public static double spin_restPos = 0.0;
     public static double turret_scalar = 1.009;
     public static double turret_restPos = 0.0;
-    Robot robot;
-    PIDFController spinPID;
-    PIDFController turretPID;
 
-    public Servos(HardwareMap hardwareMap) {
+    public Servos() {
-        robot = new Robot(hardwareMap);
         spinPID = new PIDFController(spinP, spinI, spinD, spinF);
         turretPID = new PIDFController(turrP, turrI, turrD, turrF);
-
-        turretPID.setTolerance(0.001);
     }
 
     // In the code below, encoder = robot.servo.getVoltage()
 
-    public double getSpinPos() {
+    public double getSpinPos(double voltage) {
-        return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
+        return spin_scalar * ((voltage - spin_restPos) / 3.3);
     }
-
     //TODO: PID warp so 0 and 1 are usable positions
-    public double setSpinPos(double pos) {
+    public double setSpinPos(double pos, double voltage) {
         spinPID.setPIDF(spinP, spinI, spinD, spinF);
 
-        return spinPID.calculate(this.getSpinPos(), pos);
+        return spinPID.calculate(this.getSpinPos(voltage), pos);
     }
 
-    public boolean spinEqual(double pos) {
+    public boolean spinEqual(double pos, double voltage) {
-        return Math.abs(pos - this.getSpinPos()) < 0.02;
+        return Math.abs(pos - this.getSpinPos(voltage)) < 0.02;
     }
 
-    public double getTurrPos() {
+    public double getTurrPos(double apos) {
-        return 1.0;
+        return apos;
-
     }
 
-    public double setTurrPos(double pos) {
+    public double setTurrPos(double pos, double apos) {
-        return 1.0;
+        turretPID.setPIDF(turrP, turrI, turrD, turrF);
+
+        return spinPID.calculate(this.getTurrPos(apos), pos);
     }
 
-    public boolean turretEqual(double pos) {
+    public boolean turretEqual(double pos, double apos) {
-        return true;
+        return Math.abs(pos - this.getTurrPos(apos)) < 0.01;
     }
 }

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

@@ -1,426 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-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.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_outtakeBall1;
-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.utils.Servos.spinD;
-import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
-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.libs.RR.MecanumDrive;
-
-public class Spindexer {
-    Robot robot;
-    Servos servos;
-    Flywheel flywheel;
-    MecanumDrive drive;
-    double lastKnownSpinPos = 0.0;
-    MultipleTelemetry TELE;
-
-    PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
-
-    double spinCurrentPos = 0.0;
-
-    public int commandedIntakePosition = 0;
-
-    public double distanceRearCenter = 0.0;
-    public double distanceFrontDriver = 0.0;
-    public double distanceFrontPassenger = 0.0;
-
-    // For Use
-    enum RotatedBallPositionNames {
-        REARCENTER,
-        FRONTDRIVER,
-        FRONTPASSENGER
-    }
-    // Array of commandedIntakePositions with contents
-    // {RearCenter, FrontDriver, FrontPassenger}
-    static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
-    class spindexerBallRoatation {
-        int rearCenter = 0; // aka commanded Position
-        int frontDriver = 0;
-        int frontPassenger = 0;
-    }
-
-    enum IntakeState {
-        UNKNOWN_START,
-        UNKNOWN_MOVE,
-        UNKNOWN_DETECT,
-        INTAKE,
-        FINDNEXT,
-        MOVING,
-        FULL,
-        SHOOTNEXT,
-        SHOOTMOVING,
-        SHOOTWAIT,
-    };
-
-    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
-    public int unknownColorDetect = 0;
-    enum BallColor {
-        UNKNOWN,
-        GREEN,
-        PURPLE
-    };
-
-    class BallPosition {
-        boolean isEmpty = true;
-        int foundEmpty = 0;
-        BallColor ballColor = BallColor.UNKNOWN;
-    }
-
-    BallPosition[] ballPositions = new BallPosition[3];
-
-    public boolean init () {
-        return true;
-    }
-
-    public Spindexer(HardwareMap hardwareMap) {
-        robot = new Robot(hardwareMap);
-        servos = new Servos(hardwareMap);
-        flywheel = new Flywheel(hardwareMap);
-        //TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        lastKnownSpinPos = servos.getSpinPos();
-
-        ballPositions[0] = new BallPosition();
-        ballPositions[1] = new BallPosition();
-        ballPositions[2] = new BallPosition();
-
-
-    }
-
-
-    double[] outakePositions =
-            {spindexer_outtakeBall1, spindexer_outtakeBall2, spindexer_outtakeBall3};
-
-    double[] intakePositions =
-            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
-
-    public int counter = 0;
-
-//    private double getTimeSeconds ()
-//    {
-//        return (double) System.currentTimeMillis()/1000.0;
-//    }
-
-//    public double getPos() {
-//        robot.spin1Pos.getVoltage();
-//        robot.spin1Pos.getMaxVoltage();
-//        return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
-//    }
-
-//    public void manageSpindexer() {
-//
-//    }
-
-    public void resetBallPosition (int pos) {
-        ballPositions[pos].isEmpty = true;
-        ballPositions[pos].foundEmpty = 0;
-        ballPositions[pos].ballColor = BallColor.UNKNOWN;
-    }
-
-    public void resetSpindexer () {
-        for (int i = 0; i < 3; i++) {
-            resetBallPosition(i);
-        }
-        currentIntakeState = IntakeState.UNKNOWN_START;
-    }
-
-    // Detects if a ball is found and what color.
-    // Returns true is there was a new ball found in Position 1
-    // FIXIT: Reduce number of times that we read the color sensors for loop times.
-    public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
-
-        boolean newPos1Detection = false;
-        int spindexerBallPos = 0;
-
-        // Read Distances
-        distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
-        distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
-        distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
-
-        // Position 1
-        if (distanceRearCenter < 43) {
-
-            // Mark Ball Found
-            newPos1Detection = true;
-
-            if (detectRearColor) {
-                // Detect which color
-                double green = robot.color1.getNormalizedColors().green;
-                double red = robot.color1.getNormalizedColors().red;
-                double blue = robot.color1.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                // FIXIT - Add filtering to improve accuracy.
-                if (gP >= 0.4) {
-                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
-                } else {
-                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
-                }
-           }
-        }
-        // Position 2
-        // Find which ball position this is in the spindexer
-        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 60) {
-            // reset FoundEmpty because looking for 3 in a row before reset
-            ballPositions[spindexerBallPos].foundEmpty = 0;
-            if (detectFrontColor) {
-                double green = robot.color2.getNormalizedColors().green;
-                double red = robot.color2.getNormalizedColors().red;
-                double blue = robot.color2.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                if (gP >= 0.4) {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
-                } else {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
-                }
-            }
-        } else {
-            if (!ballPositions[spindexerBallPos].isEmpty) {
-                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
-                    resetBallPosition(spindexerBallPos);
-                }
-                ballPositions[spindexerBallPos].foundEmpty++;
-            }
-
-        }
-
-        // Position 3
-        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
-        if (distanceFrontPassenger < 33) {
-
-            // reset FoundEmpty because looking for 3 in a row before reset
-            ballPositions[spindexerBallPos].foundEmpty = 0;
-            if (detectFrontColor) {
-                double green = robot.color3.getNormalizedColors().green;
-                double red = robot.color3.getNormalizedColors().red;
-                double blue = robot.color3.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                if (gP >= 0.4) {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
-                } else {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // purple
-                }
-            }
-        } else {
-            if (!ballPositions[spindexerBallPos].isEmpty) {
-                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
-                    resetBallPosition(spindexerBallPos);
-                }
-                ballPositions[spindexerBallPos].foundEmpty++;
-            }
-        }
-
-//      TELE.addData("Velocity", velo);
-//      TELE.addLine("Detecting");
-//      TELE.addData("Distance 1", s1D);
-//      TELE.addData("Distance 2", s2D);
-//      TELE.addData("Distance 3", s3D);
-//      TELE.addData("B1", b1);
-//      TELE.addData("B2", b2);
-//      TELE.addData("B3", b3);
-//      TELE.update();
-
-        return newPos1Detection;
-    }
-
-    public void moveSpindexerToPos(double pos) {
-        spinCurrentPos = servos.getSpinPos();
-
-        double spindexPID = spinPID.calculate(spinCurrentPos, pos);
-
-        robot.spin1.setPower(spindexPID);
-        robot.spin2.setPower(-spindexPID);
-    }
-
-    public void stopSpindexer() {
-        robot.spin1.setPower(0);
-        robot.spin2.setPower(0);
-    }
-
-    public boolean isFull () {
-        return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
-    }
-    public boolean processIntake() {
-
-        switch (currentIntakeState) {
-            case UNKNOWN_START:
-                // For now just set position ONE if UNKNOWN
-                commandedIntakePosition = 0;
-                servos.setSpinPos(intakePositions[0]);
-                currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
-                break;
-            case UNKNOWN_MOVE:
-                // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
-                    stopSpindexer();
-                    detectBalls(true, true);
-                    unknownColorDetect = 0;
-                } else {
-                    // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
-                }
-                break;
-            case UNKNOWN_DETECT:
-                if (unknownColorDetect >5) {
-                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
-                } else {
-                    detectBalls(true, true);
-                    unknownColorDetect++;
-                }
-                break;
-            case INTAKE:
-                // Ready for intake and Detecting a New Ball
-                if (detectBalls(true, false)) {
-                    ballPositions[commandedIntakePosition].isEmpty = false;
-                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
-                } else {
-                    // Maintain Position
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
-                }
-                break;
-            case FINDNEXT:
-                // Find Next Open Position and start movement
-                double currentSpindexerPos = servos.getSpinPos();
-                double commandedtravelDistance = 2.0;
-                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
-                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
-                    // Position 1
-                    commandedIntakePosition = 0;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-                    currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
-                }
-                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
-                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
-                    // Position 2
-                    commandedIntakePosition = 1;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-                    currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
-                }
-                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
-                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
-                    // Position 3
-                    commandedIntakePosition = 2;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-                    currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
-                }
-                if (currentIntakeState != Spindexer.IntakeState.MOVING) {
-                    // Full
-                    currentIntakeState = Spindexer.IntakeState.FULL;
-                }
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
-                break;
-
-            case MOVING:
-                // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    currentIntakeState = Spindexer.IntakeState.INTAKE;
-                    stopSpindexer();
-                    detectBalls(false, false);
-                } else {
-                    // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
-                }
-                break;
-
-            case FULL:
-                // Double Check Colors
-                detectBalls(false, false); // Minimize hardware calls
-                if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
-                    // Error handling found an empty spot, get it ready for a ball
-                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
-                }
-                // Maintain Position
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
-                break;
-
-            case SHOOTNEXT:
-                // Find Next Open Position and start movement
-                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?
-                    // 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?
-                    // 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"
-                break;
-
-            case SHOOTMOVING:
-                // 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"
-                }
-                break;
-
-            case SHOOTWAIT:
-                // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    currentIntakeState = Spindexer.IntakeState.INTAKE;
-                    stopSpindexer();
-                    detectBalls(true, false);
-                } else {
-                    // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
-                }
-                break;
-
-            default:
-                // Statements to execute if no case matches
-        }
-        //TELE.addData("commandedIntakePosition", commandedIntakePosition);
-        //TELE.update();
-        // Signal a successful intake
-        return false;
-    }
-
-    public void update()
-    {
-    }
-}

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

@@ -1,141 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-import android.provider.Settings;
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-public class Targeting {
-    MultipleTelemetry TELE;
-
-    double cancelOffsetX = 7.071067811;
-    double cancelOffsetY = 7.071067811;
-    double unitConversionFactor = 0.95;
-
-    int tileSize = 24; //inches
-
-    public double robotInchesX, robotInchesY = 0.0;
-
-    public int robotGridX, robotGridY = 0;
-
-
-    public static class Settings {
-        public double flywheelRPM = 0.0;
-        public double hoodAngle = 0.0;
-
-        public Settings (double flywheelRPM, double hoodAngle) {
-            this.flywheelRPM = flywheelRPM;
-            this.hoodAngle = hoodAngle;
-        }
-    }
-
-    // Known settings discovered using shooter test.
-    // Keep the fidelity at 1 floor tile for now but we could also half it if more
-    // accuracy is needed.
-    public static final Settings[][] KNOWNTARGETING;
-    static {
-        KNOWNTARGETING = new Settings[6][6];
-        // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
-        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
-        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
-        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
-        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
-        // ROW 1
-        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
-        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
-        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
-        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
-        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
-        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
-        // ROW 2
-        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
-        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
-        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
-        // ROW 3
-        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
-        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
-        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
-        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
-        // ROW 4
-        KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
-        KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
-        KNOWNTARGETING[4][2] = new Settings (4542.0, 0.1);
-        KNOWNTARGETING[4][3] = new Settings (4543.0, 0.1);
-        KNOWNTARGETING[4][4] = new Settings (4544.0, 0.1);
-        KNOWNTARGETING[4][5] = new Settings (4545.0, 0.1);
-        // ROW 1
-        KNOWNTARGETING[5][0] = new Settings (4550.0, 0.1);
-        KNOWNTARGETING[5][1] = new Settings (4551.0, 0.1);
-        KNOWNTARGETING[5][2] = new Settings (4552.0, 0.1);
-        KNOWNTARGETING[5][3] = new Settings (4553.0, 0.1);
-        KNOWNTARGETING[5][4] = new Settings (4554.0, 0.1);
-        KNOWNTARGETING[5][5] = new Settings (4555.0, 0.1);
-    }
-
-    public Targeting()
-    {
-    }
-
-    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
-        Settings recommendedSettings = new Settings(0.0, 0.0);
-
-        double cos45 = Math.cos(Math.toRadians(-45));
-        double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
-        double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
-
-        // Convert robot coordinates to inches
-        robotInchesX = rotatedX * unitConversionFactor;
-        robotInchesY = rotatedY * unitConversionFactor;
-
-        // Find approximate location in the grid
-        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
-        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
-
-        //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 ((robotGridY < 6) && (robotGridX <6)) {
-                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
-            }
-            return recommendedSettings;
-        } else {
-
-            // bilinear interpolation
-            int x0 = robotGridX;
-            int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
-            int y0 = gridY;
-            int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
-
-            double x = (robotInchesX - (x0 * tileSize)) / tileSize;
-            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
-
-            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
-            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
-            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
-            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
-
-            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
-            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
-            double angle01 = KNOWNTARGETING[y1][x0].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;
-
-            return recommendedSettings;
-        }
-    }
-}

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

@@ -1,147 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-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 org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
-
-@Config
-public class Turret {
-
-    public static double turretTolerance = 0.02;
-    public static double turrPosScalar = 1.009;
-    public static double turret180Range = 0.4;
-    public static double turrDefault = 0.4;
-    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 angleMultiplier = 0.0;
-    Robot robot;
-    MultipleTelemetry TELE;
-    AprilTagWebcam webcam;
-    private int obeliskID = 0;
-    private double turrPos = 0.0;
-    private double offset = 0.0;
-    private double bearing = 0.0;
-
-
-
-    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
-        this.TELE = tele;
-        this.robot = rob;
-        this.webcam = cam;
-    }
-
-    public double getTurrPos() {
-        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3);
-
-    }
-
-    public void manualSetTurret(double pos){
-        robot.turr1.setPosition(pos);
-        robot.turr2.setPosition(1-pos);
-    }
-
-    public boolean turretEqual(double pos) {
-        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
-    }
-
-    public double getBearing() {
-        if (redAlliance) {
-            AprilTagDetection d24 = webcam.getTagById(24);
-            if (d24 != null) {
-                bearing = d24.ftcPose.bearing;
-                return bearing;
-            } else {
-                return 1000.0;
-            }
-        } else {
-            AprilTagDetection d20 = webcam.getTagById(20);
-            if (d20 != null) {
-                bearing = d20.ftcPose.bearing;
-                return bearing;
-            } else {
-                return 1000.0;
-            }
-        }
-    }
-
-    public int detectObelisk() {
-        AprilTagDetection id21 = webcam.getTagById(21);
-        AprilTagDetection id22 = webcam.getTagById(22);
-        AprilTagDetection id23 = webcam.getTagById(23);
-        if (id21 != null) {
-            obeliskID = 21;
-        } else if (id22 != null) {
-            obeliskID = 22;
-        } else if (id23 != null) {
-            obeliskID = 23;
-        }
-        return obeliskID;
-    }
-
-    public int getObeliskID() {
-        return obeliskID;
-    }
-
-
-
-    /*
-        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
-     */
-    public void trackGoal(Pose2d deltaPos) {
-
-        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
-
-        // Angle from robot to goal in robot frame
-        double desiredTurretAngleDeg = Math.toDegrees(
-                Math.atan2(deltaPos.position.y, deltaPos.position.x)
-        );
-
-        // Robot heading (field → robot)
-        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
-
-        // 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 ---------------- */
-//
-        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
-        turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
-
-        robot.turr1.setPosition(turretPos);
-        robot.turr2.setPosition(1.0 - turretPos);
-
-        /* ---------------- TELEMETRY ---------------- */
-
-        TELE.addData("Turret Angle", turretAngleDeg);
-        TELE.addData("Bearing", tagBearingDeg);
-        TELE.addData("Offset", offset);
-    }
-
-}