Merge remote-tracking branch 'origin/SpindexerRefactor' into SpindexerRefactor

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue_V2.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red_V2.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java

TeamCode/build.gradle

@@ -23,6 +23,19 @@ android {
     }
 }
 
+
+repositories {
+    maven {
+        url = 'https://maven.brott.dev/'
+    }
+}
+
 dependencies {
     implementation project(':FtcRobotController')
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
+    implementation "com.acmerobotics.roadrunner:core:1.0.1"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
+    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
+    implementation 'org.ftclib.ftclib:core:2.1.1' // core
+
 }

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

@@ -0,0 +1,751 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+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.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.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+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.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.List;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoClose_V3 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    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;
+    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 = 0.1; // power to hold turret in place
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            int id = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
+                        TELE.update();
+                    }
+
+                }
+
+                if (id == 21){
+                    gpp = true;
+                } else if (id == 22){
+                    pgp = true;
+                } else if (id == 23){
+                    ppg = true;
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    if (redAlliance){
+                        robot.limelight.pipelineSwitch(3);
+                        double turretPID = turret_redClose;
+                        robot.turr1.setPosition(turretPID);
+                        robot.turr2.setPosition(-turretPID);
+                        return false;
+
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+                        double turretPID = turret_blueClose;
+                        robot.turr1.setPosition(turretPID);
+                        robot.turr2.setPosition(-turretPID);
+                        return false;
+                    }
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    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(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                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);
+                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr2.setPosition(holdTurrPow);
+                    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 = spindexer_intakePos1;
+            double stamp = 0.0;
+            int ticker = 0;
+            double pow = 1.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(pow);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if (!servo.spinEqual(position)){
+                    double spinPID = servo.setSpinPos(position);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
+                }
+
+                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                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;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                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);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
+
+                    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 < 60) {
+
+                    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 < 33) {
+
+                    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 FlywheelV2();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        robot.limelight.pipelineSwitch(1);
+        robot.limelight.start();
+
+        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);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = turret_detectRedClose;
+
+                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);
+
+                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);
+
+                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+            } else {
+                turrPID = turret_detectBlueClose;
+
+                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);
+
+                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);
+
+                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+            }
+
+            robot.turr1.setPosition(turrPID);
+            robot.turr2.setPosition(-turrPID);
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            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(AUTO_CLOSE_VEL)
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            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(AUTO_CLOSE_VEL)
+                    )
+            );
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        LLResult result = robot.limelight.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                bearing = result.getTx();
+            }
+        }
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = turretPos;
+        robot.turr1.setPosition(turretPID);
+        robot.turr2.setPosition(-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/AutoFar_V1.java

@@ -0,0 +1,651 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+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.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.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+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.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.List;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoFar_V1 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    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;
+    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 = 0.1; // power to hold turret in place
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            int id = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
+                        TELE.update();
+                    }
+
+                }
+
+                if (id == 21){
+                    gpp = true;
+                } else if (id == 22){
+                    pgp = true;
+                } else if (id == 23){
+                    ppg = true;
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    if (redAlliance){
+                        robot.limelight.pipelineSwitch(3);
+                        robot.turr1.setPosition(turret_redFar);
+                        robot.turr2.setPosition(-turret_redFar);
+
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+
+                        robot.turr1.setPosition(turret_blueFar);
+                        robot.turr2.setPosition(-turret_blueFar);
+
+                    }
+
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    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(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                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);
+                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr2.setPosition(holdTurrPow);
+                    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 = spindexer_intakePos1;
+            double stamp = 0.0;
+            int ticker = 0;
+            double pow = 1.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(pow);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if (!servo.spinEqual(position)){
+                    double spinPID = servo.setSpinPos(position);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
+                }
+
+                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                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;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                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);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
+
+                    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 < 60) {
+
+                    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 < 33) {
+
+                    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 FlywheelV2();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        robot.limelight.pipelineSwitch(1);
+        robot.limelight.start();
+
+        //TODO: add positions to develop auto
+        
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
+                .strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = turret_detectRedClose;
+            } else {
+                turrPID = turret_detectBlueClose;
+            }
+
+            robot.turr1.setPosition(turrPID);
+            robot.turr2.setPosition(-turrPID);
+
+            robot.hood.setPosition(hoodAutoFar);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            initShooter(AUTO_FAR_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+            
+            Actions.runBlocking(park.build());
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        LLResult result = robot.limelight.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                bearing = result.getTx();
+            }
+        }
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = turretPos;
+        robot.turr1.setPosition(turretPID);
+        robot.turr2.setPosition(-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_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+}

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

@@ -0,0 +1,802 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.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;
+
+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.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.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.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+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;
+    Servos servo;
+    double velo = 0.0;
+    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 Action initShooter(int vel) {
+        return new Action() {
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            int id = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
+                        TELE.update();
+                    }
+
+                }
+
+                if (id == 21) {
+                    gpp = true;
+                } else if (id == 22) {
+                    pgp = true;
+                } else if (id == 23) {
+                    ppg = true;
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    if (redAlliance) {
+                        robot.limelight.pipelineSwitch(3);
+                        robot.turr1.setPosition(turret_redClose);
+                        robot.turr2.setPosition(1 - turret_redClose);
+                        return false;
+
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+                        double turretPID = turret_blueClose;
+                        robot.turr1.setPosition(turretPID);
+                        robot.turr2.setPosition(1 - turretPID);
+                        return false;
+                    }
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            int ticker = 1;
+            double initPos = 0.0;
+            double finalPos = 0.0;
+            boolean zeroNeeded = false;
+            boolean zeroPassed = false;
+            double currentPos = 0.0;
+            double prevPos = 0.0;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < 2.7) {
+
+                    robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    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) {
+                    stamp = getRuntime();
+                }
+
+                if (ticker % 12 < 6) {
+
+                    robot.spin1.setPower(-1);
+                    robot.spin2.setPower(1);
+
+                } else {
+                    robot.spin1.setPower(1);
+                    robot.spin2.setPower(-1);
+                }
+
+                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 stamp = 0.0;
+            int ticker = 0;
+            double spinCurrentPos = 0.0;
+            double spinInitPos = 0.0;
+            boolean reverse = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (ticker % 60 < 12) {
+
+                    robot.spin1.setPower(-1);
+                    robot.spin2.setPower(1);
+
+                } else if (ticker % 60 < 30) {
+                    robot.spin1.setPower(-0.5);
+                    robot.spin2.setPower(0.5);
+                }
+                else if (ticker % 60 < 42) {
+                    robot.spin1.setPower(1);
+                    robot.spin2.setPower(-1);
+                }
+                else {
+                    robot.spin1.setPower(0.5);
+                    robot.spin2.setPower(-0.5);
+                }
+                robot.intake.setPower(1);
+                TELE.addData("Reverse?", reverse);
+                TELE.update();
+
+                if (getRuntime() - stamp > intakeTime) {
+                    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;
+                    }
+
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                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 < 43) {
+
+                    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 < 60) {
+
+                    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 < 33) {
+
+                    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(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        servo = new Servos(hardwareMap);
+
+        robot.limelight.pipelineSwitch(1);
+        robot.limelight.start();
+
+        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,
+                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,
+                        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()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+
+            }
+
+            double turretPID;
+            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,
+                                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,
+                                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,
+                                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,
+                                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);
+
+            TELE.addData("Red?", redAlliance);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new SequentialAction(
+                            shoot1.build(),
+                            spindexUnjam(spinUnjamTime)
+
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            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(),
+                            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)
+
+                    )
+            );
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        LLResult result = robot.limelight.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                bearing = result.getTx();
+            }
+        }
+        double turretPos = robot.turr1Pos.getCurrentPosition() - (bearing / 1300);
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1 - turretPos);
+    }
+
+    public void shootingSequence() {
+        TELE.addLine("Shooting");
+        TELE.update();
+        Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
+    }
+
+    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

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

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

@@ -0,0 +1,5 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+public class Color {
+    public static boolean redAlliance = true;
+}

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

@@ -0,0 +1,43 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses {
+
+    public static double goalHeight = 42; //in inches
+
+    public static double turretHeight = 12;
+
+    public static double relativeGoalHeight = goalHeight - turretHeight;
+
+    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 rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
+
+    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
+
+    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
+    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
+
+    public static double 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(rx1, ry1, rh1);
+
+}

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

@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ServoPositions {
+
+    public static double spindexer_intakePos1 = 0.39;
+
+    public static double spindexer_intakePos2 = 0.55;//0.5;
+
+    public static double spindexer_intakePos3 = 0.71;//0.66;
+
+    public static double spindexer_outtakeBall3 = 0.47;
+
+    public static double spindexer_outtakeBall2 = 0.31;
+    public static double spindexer_outtakeBall1 = 0.15;
+
+    public static double transferServo_out = 0.15;
+
+    public static double transferServo_in = 0.38;
+
+    public static double turret_range = 0.9;
+
+    public static double hoodDefault = 0.6;
+
+    public static double hoodAuto = 0.27;
+
+    public static double hoodAutoFar = 0.5; //TODO: change this;
+
+    public static double hoodHigh = 0.21; //TODO: change this;
+
+    public static double hoodLow = 1.0; //TODO: change this;
+
+    public static double turret_redClose = 0.42;
+    public static double turret_blueClose = 0.38;
+    public static double turret_redFar = 0.5; //TODO: change this
+    public static double turret_blueFar = 0.5; // TODO: change this
+
+    public static double turret_detectRedClose = 0.2;
+
+    public static double turret_detectBlueClose = 0.6;
+    public static double turrDefault = 0.4;
+
+}

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

@@ -0,0 +1,24 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ShooterVars {
+    public static double turret_GearRatio = 0.9974;
+
+    public static double turret_Range = 355;
+
+    public static int velTolerance = 300;
+
+    public static int initTolerance = 1000;
+
+    public static int maxVel = 4500;
+    public static double waitTransferOut = 0.3;
+    public static double waitTransfer = 0.4;
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+
+    // VELOCITY CONSTANTS
+    public static int AUTO_CLOSE_VEL = 3175; //3300;
+    public static int AUTO_FAR_VEL = 4000; //TODO: test this
+}

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

@@ -5,7 +5,9 @@ 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.*;
+import com.acmerobotics.roadrunner.AccelConstraint;
+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;
@@ -14,12 +16,20 @@ 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;
@@ -34,6 +44,7 @@ import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 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.IMU;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
@@ -45,56 +56,15 @@ 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.UP;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        // drive model parameters
-        public double inPerTick = 1;
-        public double lateralInPerTick = inPerTick;
-        public double trackWidthTicks = 0;
-
-        // feedforward parameters (in tick units)
-        public double kS = 0;
-        public double kV = 0;
-        public double kA = 0;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 50;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 50;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
-        public double maxAngAccel = Math.PI;
-
-        // path controller gains
-        public double axialGain = 0.0;
-        public double lateralGain = 0.0;
-        public double headingGain = 0.0; // 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 =
@@ -104,20 +74,150 @@ 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 MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+
+    public static class Params {
+        // IMU orientation
+        // TODO: fill in these values based on
+        //   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;
@@ -143,13 +243,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public void setPose(Pose2d pose) {
+        public Pose2d getPose() {
-            this.pose = pose;
+            return pose;
         }
 
         @Override
-        public Pose2d getPose() {
+        public void setPose(Pose2d pose) {
-            return pose;
+            this.pose = pose;
         }
 
         @Override
@@ -215,60 +315,10 @@ public final class MecanumDrive {
         }
     }
 
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
-        leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
-        rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
-        rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new DriveLocalizer(pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
         private final double[] xPoints, yPoints;
+        private double beginTs = -1;
 
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
@@ -446,51 +496,4 @@ 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/libs/RR/PinpointLocalizer.java

@@ -16,8 +16,8 @@ import java.util.Objects;
 @Config
 public final class PinpointLocalizer implements Localizer {
     public static class Params {
-        public double parYTicks = 0.0; // y position of the parallel encoder (in tick units)
+        public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
+        public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
     }
 
     public static Params PARAMS = new Params();
@@ -38,7 +38,7 @@ public final class PinpointLocalizer implements Localizer {
         driver.setOffsets(mmPerTick * PARAMS.parYTicks, mmPerTick * PARAMS.perpXTicks, DistanceUnit.MM);
 
         // TODO: reverse encoder directions if needed
-        initialParDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
+        initialParDirection = GoBildaPinpointDriver.EncoderDirection.REVERSED;
         initialPerpDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
 
         driver.setEncoderDirections(initialParDirection, initialPerpDirection);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md

@@ -1,147 +1,130 @@
-# Team FTC Git Workflow Guide
+## TeamCode Module
 
+Welcome!
 
-## 1. Cloning the Repository
+This module, TeamCode, is the place where you will write/paste the code for your team's
+robot controller App. This module is currently empty (a clean slate) but the
+process for adding OpModes is straightforward.
 
-1. Open a terminal (or the terminal inside Android Studio).
+## Creating your own OpModes
-2. Navigate to the folder where you want to keep the project.
-3. Run:
 
-   ```bash
+The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
-   git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
-   cd DecodeFTCMain
-   ```
 
-4. Verify your remotes:
+Sample opmodes exist in the FtcRobotController module.
+To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
 
-   ```bash
+Expand the following tree elements:
-   git remote -v
+FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
-   ```
 
-   You should see:
+### Naming of Samples
-   ```
-   origin    https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
-   origin    https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
-   upstream  https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
-   upstream  https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
-   ```
 
----
+To gain a better understanding of how the samples are organized, and how to interpret the
+naming system, it will help to understand the conventions that were used during their creation.
 
-## 2. Keeping `master` Clean
+These conventions are described (in detail) in the sample_conventions.md file in this folder.
 
-- `master` should only contain clean, tested code.
+To summarize: A range of different samples classes will reside in the java/external/samples.
-- Nobody should ever code directly on `master`.
+The class names will follow a naming convention which indicates the purpose of each class.
-- To stay up to date:
+The prefix of the name will be one of the following:
 
-   ```bash
+Basic:    This is a minimally functional OpMode used to illustrate the skeleton/structure
-   git checkout master
+of a particular style of OpMode. These are bare bones examples.
-   git fetch upstream
-   git merge upstream/master
-   git push origin master
-   ```
 
----
+Sensor:        This is a Sample OpMode that shows how to use a specific sensor.
+It is not intended to drive a functioning robot, it is simply showing the minimal code
+required to read and display the sensor values.
 
-## 3. Creating a Feature Branch
+Robot:        This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
+It may be used to provide a common baseline driving OpMode, or
+to demonstrate how a particular sensor or concept can be used to navigate.
 
-Whenever you start a new task (feature, fix, experiment):
+Concept:    This is a sample OpMode that illustrates performing a specific function or concept.
+These may be complex, but their operation should be explained clearly in the comments,
+or the comments should reference an external doc, guide or tutorial.
+Each OpMode should try to only demonstrate a single concept so they are easy to
+locate based on their name. These OpModes may not produce a drivable robot.
 
-1. Update `master` (see above).
+After the prefix, other conventions will apply:
-2. Create a new branch from `master`:
 
-   ```bash
+* Sensor class names are constructed as:    Sensor - Company - Type
-   git checkout master
+* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
-   git pull origin master
+* Concept class names are constructed as:   Concept - Topic - OpModetype
-   git checkout -b feature/short-description
-   ```
 
-### Branch Naming Standard
+Once you are familiar with the range of samples available, you can choose one to be the
+basis for your own robot. In all cases, the desired sample(s) needs to be copied into
+your TeamCode module to be used.
 
-Branches **must** follow the format:
+This is done inside Android Studio directly, using the following steps:
+
+1) Locate the desired sample class in the Project/Android tree.
+
+2) Right click on the sample class and select "Copy"
+
+3) Expand the TeamCode/java folder
+
+4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
+
+5) You will be prompted for a class name for the copy.
+   Choose something meaningful based on the purpose of this class.
+   Start with a capital letter, and remember that there may be more similar classes later.
+
+Once your copy has been created, you should prepare it for use on your robot.
+This is done by adjusting the OpMode's name, and enabling it to be displayed on the
+Driver Station's OpMode list.
+
+Each OpMode sample class begins with several lines of code like the ones shown below:
 
 ```
-<type>/<short-description>
+ @TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
+ @Disabled
 ```
 
-Where `<type>` is one of:
+The name that will appear on the driver station's "opmode list" is defined by the code:
-- `feature/` → new functionality
+``name="Template: Linear OpMode"``
-- `fix/` → bug fixes
+You can change what appears between the quotes to better describe your opmode.
-- `experiment/` → prototypes or tests
+The "group=" portion of the code can be used to help organize your list of OpModes.
-- `docs/` → documentation updates
-- `chore/` → maintenance or cleanup
 
-Examples:
+As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
-- `feature/autonomous-path`
+``@Disabled`` annotation which has been included.
-- `fix/motor-init`
+This line can simply be deleted , or commented out, to make the OpMode visible.
-- `experiment/vision-test`
-- `docs/setup-instructions`
-- `chore/gradle-update`
 
-**Rules for names:**
+## ADVANCED Multi-Team App management:  Cloning the TeamCode Module
-- Use lowercase letters and hyphens (`-`) only.
-- Keep it short but clear (3–5 words).
-- One branch = one task. Never mix unrelated work.
 
----
+In some situations, you have multiple teams in your club and you want them to all share
+a common code organization, with each being able to *see* the others code but each having
+their own team module with their own code that they maintain themselves.
 
-## 4. Working on Your Branch
+In this situation, you might wish to clone the TeamCode module, once for each of these teams.
+Each of the clones would then appear along side each other in the Android Studio module list,
+together with the FtcRobotController module (and the original TeamCode module).
 
-- Make changes in Android Studio.
+Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
-- Stage and commit your changes:
+prior to clicking to the green Run arrow.
 
-   ```bash
+Warning:  This is not for the inexperienced Software developer.
-   git add .
+You will need to be comfortable with File manipulations and managing Android Studio Modules.
-   git commit -m "short message about what changed"
+These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
-   ```
 
-- Push your branch to GitHub:
+Also.. Make a full project backup before you start this :)
 
-   ```bash
+To clone TeamCode, do the following:
-   git push origin feature/short-description
-   ```
 
----
+Note: Some names start with "Team" and others start with "team". This is intentional.
 
-## 5. Sharing Your Work
+1) Using your operating system file management tools, copy the whole "TeamCode"
+   folder to a sibling folder with a corresponding new name, eg: "Team0417".
 
-- Once your branch is ready:
+2) In the new Team0417 folder, delete the TeamCode.iml file.
-    1. Open a Pull Request (PR) on GitHub to merge into `master`.
-    2. At least one teammate should review before merging.
 
----
+3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
+   to a matching name with a lowercase 'team' eg:  "team0417".
 
-## 6. Branching Rules
+4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
+   contains
+   package="org.firstinspires.ftc.teamcode"
+   to be
+   package="org.firstinspires.ftc.team0417"
 
-**Do:**
+5) Add:    include ':Team0417' to the "/settings.gradle" file.
-- Always branch from `master`.
-- Follow the naming standard exactly.
-- Keep branches small and focused.
-- Delete branches after they’re merged.
 
-**Don’t:**
+6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
-- Don’t push commits directly to `master`.
-- Don’t leave unfinished work on `master`.
-- Don’t mix unrelated changes in one branch.
-
----
-
-## 7. Example Workflow
-
-```bash
-# Get latest code
-git checkout master
-git fetch upstream
-git merge upstream/master
-git push origin master
-
-# Start a new feature
-git checkout -b feature/teleop-improvements
-
-# Work on code, then commit
-git add .
-git commit -m "improved joystick scaling in TeleOp"
-
-# Push branch
-git push origin feature/teleop-improvements
-```

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java

@@ -0,0 +1,896 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+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 static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
+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.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@TeleOp
+@Config
+public class TeleopV2 extends LinearOpMode {
+    Servos servo;
+    Flywheel flywheel;
+    public static double manualVel = 3000;
+    public static double hood = 0.5;
+    public static double hoodDefaultPos = 0.5;
+    public static double desiredTurretAngle = 180;
+    public static double velMultiplier = 20;
+    public static double shootStamp2 = 0.0;
+
+    public double vel = 3000;
+    public boolean autoVel = true;
+    public double manualOffset = 0.0;
+    public boolean autoHood = true;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    public double shootStamp = 0.0;
+    public boolean circle = false;
+    public boolean square = false;
+    public boolean triangle = false;
+    double autoHoodOffset = 0.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    boolean intake = false;
+    boolean reject = false;
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+    double headingOffset = 0.0;
+    int ticker = 0;
+    int camTicker = 0;
+    List<Double> s1G = new ArrayList<>();
+    List<Double> s2G = new ArrayList<>();
+    List<Double> s3G = new ArrayList<>();
+    List<Double> s1T = new ArrayList<>();
+    List<Double> s2T = new ArrayList<>();
+    List<Double> s3T = new ArrayList<>();
+    List<Boolean> s1 = new ArrayList<>();
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    boolean oddBallColor = false;
+    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
+    MecanumDrive drive;
+    double hoodOffset = 0.0;
+    boolean shoot1 = false;
+    // Make these class-level flags
+    boolean shootA = true;
+    boolean shootB = true;
+    boolean shootC = true;
+    boolean manualTurret = false;
+
+    boolean outtake1 = false;
+    boolean outtake2 = false;
+    boolean outtake3 = false;
+    boolean overrideTurr = false;
+
+    List<Integer> shootOrder = new ArrayList<>();
+    boolean emergency = false;
+    private double lastEncoderRevolutions = 0.0;
+    private double lastTimeStamp = 0.0;
+    private double velo1, velo;
+    private double stamp1, stamp, initPos;
+    private boolean shootAll = false;
+    private double transferStamp = 0.0;
+    private int tickerA = 1;
+    private boolean transferIn = false;
+    double turretPID = 0.0;
+    double turretPos = 0.5;
+    double spindexPID = 0.0;
+    double spindexPos = spindexer_intakePos1;
+    double error = 0.0;
+
+    public static double velPrediction(double distance) {
+
+        if (distance < 30) {
+            return 2750;
+        } else if (distance > 100) {
+            if (distance > 160) {
+                return 4200;
+            }
+            return 3700;
+        } else {
+            // linear interpolation between 40->2650 and 120->3600
+            double slope = (3700.0 - 2750.0) / (100.0 - 30);
+            return (int) Math.round(2750 + slope * (distance - 30));
+        }
+
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+        servo = new Servos(hardwareMap);
+        flywheel = new Flywheel(hardwareMap);
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        Pose2d shootPos = teleStart;
+
+        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
+
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()) {
+
+            //DRIVETRAIN:
+
+            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
+            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
+            double rx = gamepad1.left_stick_x;
+
+            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+            double frontLeftPower = (y + x + rx) / denominator;
+            double backLeftPower = (y - x + rx) / denominator;
+            double frontRightPower = (y - x - rx) / denominator;
+            double backRightPower = (y + x - rx) / denominator;
+
+            robot.frontLeft.setPower(frontLeftPower);
+            robot.backLeft.setPower(backLeftPower);
+            robot.frontRight.setPower(frontRightPower);
+            robot.backRight.setPower(backRightPower);
+
+
+            //TODO: make sure changing position works throughout opmode
+            if (!servo.spinEqual(spindexPos)){
+                spindexPID = servo.setSpinPos(spindexPos);
+                robot.spin1.setPower(spindexPID);
+                robot.spin2.setPower(-spindexPID);
+            } else{
+                robot.spin1.setPower(0);
+                robot.spin2.setPower(0);
+            }
+
+            //INTAKE:
+
+            if (gamepad1.rightBumperWasPressed()) {
+                intake = !intake;
+                reject = false;
+                shootAll = false;
+                emergency = false;
+                overrideTurr = false;
+
+            }
+
+            if (gamepad1.leftBumperWasPressed()) {
+                intake = false;
+                emergency = !emergency;
+
+            }
+
+            if (intake) {
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                robot.intake.setPower(1);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    spindexPos = spindexer_intakePos1 + 0.015;
+                } else {
+                    spindexPos = spindexer_intakePos1 - 0.015;
+                }
+
+            } else if (reject) {
+                robot.intake.setPower(-1);
+                spindexPos = spindexer_intakePos1;
+            } else {
+                robot.intake.setPower(0);
+            }
+
+            //COLOR:
+
+            double s1D = robot.color1.getDistance(DistanceUnit.MM);
+            double s2D = robot.color2.getDistance(DistanceUnit.MM);
+            double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+            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);
+
+                s1G.add(gP);
+
+                if (gP >= 0.43) {
+                    s1.add(true);
+                } else {
+                    s1.add(false);
+                }
+
+                s1T.add(getRuntime());
+
+            }
+
+            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);
+
+                s2G.add(gP);
+
+                if (gP >= 0.43) {
+                    s2.add(true);
+                } else {
+                    s2.add(false);
+                }
+
+                s2T.add(getRuntime());
+            }
+
+            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);
+
+                s3G.add(gP);
+
+                if (gP >= 0.43) {
+                    s3.add(true);
+                } else {
+                    s3.add(false);
+                }
+
+                s3T.add(getRuntime());
+            }
+
+            if (!s1.isEmpty()) {
+                green1 = checkGreen(s1, s1T);
+            }
+            if (!s2.isEmpty()) {
+                green2 = checkGreen(s2, s2T);
+
+            }
+            if (!s3.isEmpty()) {
+                green3 = checkGreen(s3, s3T);
+            }
+
+            //SHOOTER:
+
+            double powPID = flywheel.manageFlywheel((int) vel);
+
+             robot.transfer.setPower(1);
+
+            //TURRET:
+
+            double offset;
+
+            double robX = drive.localizer.getPose().position.x;
+            double robY = drive.localizer.getPose().position.y;
+
+            double robotX = robX - xOffset;
+            double robotY = robY - yOffset;
+            double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+            double goalX = -10;
+            double goalY = 0;
+
+            double dx = goalX - robotX;  // delta x from robot to goal
+            double dy = goalY - robotY;  // delta y from robot to goal
+
+            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
+
+            desiredTurretAngle += manualOffset;
+
+            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
+
+            if (offset > 135) {
+                offset -= 360;
+            }
+
+            //TODO: test the camera teleop code
+            double pos = turrDefault + (error/8); // adds the overall error to the default
+
+            TELE.addData("offset", offset);
+
+            pos -= offset * (0.9 / 360);
+
+            if (pos < 0.02) {
+                pos = 0.02;
+            } else if (pos > 0.97) {
+                pos = 0.97;
+            }
+
+            if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
+                AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
+                AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
+
+                double bearing = 0.0;
+                if (d20 != null || d24 != null){
+                    if (d20 != null) {
+                        bearing = d20.ftcPose.bearing;
+                    }
+                    if (d24 != null) {
+                        bearing = d24.ftcPose.bearing;
+                    }
+                    overrideTurr = true;
+                    turretPos = servo.getTurrPos() - (bearing/1300);
+                    TELE.addData("Bear", bearing);
+
+                    double bearingCorrection = bearing / 1300;
+
+
+                    // deadband: ignore tiny noise
+                    if (Math.abs(bearing) > 0.3 && camTicker < 8) {
+
+                        // only accumulate if bearing direction is consistent
+                        if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
+                            error += bearingCorrection;
+                        }
+                    }
+
+                    camTicker++;
+
+                }
+
+
+            } else {
+                camTicker = 0;
+                overrideTurr = false;
+
+            }
+
+            if (manualTurret) {
+                pos = turrDefault + (manualOffset / 100);
+            }
+
+            if (!overrideTurr) {
+                turretPos = pos;
+            }
+
+            if (gamepad2.dpad_right) {
+                manualOffset -= 2;
+            } else if (gamepad2.dpad_left) {
+                manualOffset += 2;
+            }
+
+            //VELOCITY AUTOMATIC
+
+            if (autoVel) {
+                vel = velPrediction(distanceToGoal);
+            } else {
+                vel = manualVel;
+            }
+
+            if (gamepad2.right_stick_button) {
+                autoVel = true;
+            } else if (gamepad2.right_stick_y < -0.5) {
+                autoVel = false;
+                manualVel = 4100;
+            } else if (gamepad2.right_stick_y > 0.5) {
+                autoVel = false;
+                manualVel = 2700;
+            } else if (gamepad2.right_stick_x > 0.5) {
+                autoVel = false;
+                manualVel = 3600;
+            } else if (gamepad2.right_stick_x < -0.5) {
+                autoVel = false;
+                manualVel = 3100;
+            }
+
+            //HOOD:
+
+            if (autoHood) {
+                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
+            } else {
+                robot.hood.setPosition(hoodDefaultPos + hoodOffset);
+            }
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodOffset -= 0.03;
+                autoHoodOffset -= 0.02;
+
+            } else if (gamepad2.dpadDownWasPressed()) {
+                hoodOffset += 0.03;
+                autoHoodOffset += 0.02;
+
+            }
+
+            if (gamepad2.left_stick_x > 0.5) {
+                manualTurret = false;
+            } else if (gamepad2.left_stick_x < -0.5) {
+                manualOffset = 0;
+                manualTurret = false;
+                if (gamepad2.left_bumper) {
+                    drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
+                    sleep(1200);
+                }
+            }
+
+            if (gamepad2.left_stick_y < -0.5) {
+                autoHood = true;
+            } else if (gamepad2.left_stick_y > 0.5) {
+                autoHood = false;
+                hoodOffset = 0;
+                if (gamepad2.left_bumper) {
+                    xOffset = robotX;
+                    yOffset = robotY;
+                    headingOffset = robotHeading;
+                }
+            }
+
+            //SHOOT ALL:]
+
+            if (emergency) {
+                intake = false;
+                reject = true;
+
+                if (getRuntime() % 3 > 1.5) {
+                    spindexPos = 1;
+                } else {
+                    spindexPos = 0;
+                }
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                robot.transfer.setPower(1);
+
+            } else if (shootAll) {
+
+                TELE.addData("100% works", shootOrder);
+
+                intake = false;
+                reject = false;
+
+                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
+                    int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
+                    boolean shootingDone = false;
+
+                    if (!outtake1) {
+                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
+                    }
+                    if (!outtake2) {
+                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                    }
+                    if (!outtake3) {
+                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
+                    }
+
+                    switch (currentSlot) {
+                        case 1:
+                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
+                            TELE.addData("shootA", shootA);
+
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootA;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 2:
+                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
+                            TELE.addData("shootB", shootB);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootB;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 3:
+                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
+                            TELE.addData("shootC", shootC);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootC;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                    }
+
+                    // Remove from the list only if shooting is complete
+                    if (shootingDone) {
+                        shootOrder.remove(0);
+                        shootStamp2 = getRuntime();
+
+                    }
+
+                } else {
+                    // Finished shooting all balls
+                    spindexPos = spindexer_intakePos1;
+                    shootA = true;
+                    shootB = true;
+                    shootC = true;
+                    reject = false;
+                    intake = true;
+                    shootAll = false;
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+
+                    overrideTurr = false;
+
+                }
+
+            }
+
+            if (gamepad2.squareWasPressed()) {
+                square = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+            }
+
+            if (gamepad2.circleWasPressed()) {
+                circle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (gamepad2.triangleWasPressed()) {
+                triangle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (square || circle || triangle) {
+
+                // Count green balls
+                int greenCount = 0;
+                if (green1) greenCount++;
+                if (green2) greenCount++;
+                if (green3) greenCount++;
+
+                // Determine the odd ball color
+                oddBallColor = greenCount < 2; // true = green, false = purple
+
+                shootOrder.clear();
+
+                // Determine shooting order based on button pressed
+                // square = odd ball first, triangle = odd ball second, circle = odd ball third
+                if (square) {
+                    // Odd ball first
+                    addOddThenRest(shootOrder, oddBallColor);
+
+                } else if (triangle) {
+                    // Odd ball second
+                    addOddInMiddle(shootOrder, oddBallColor);
+                } else if (circle) {
+                    // Odd ball last
+                    addOddLast(shootOrder, oddBallColor);
+                }
+
+                circle = false;
+                square = false;
+                triangle = false;
+
+            }
+
+            // Right bumper shoots all balls fastest, ignoring colors
+            if (gamepad2.rightBumperWasPressed()) {
+                shootOrder.clear();
+                shootStamp = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+                // Fastest order (example: slot 3 → 2 → 1)
+
+                if (ballIn(3)) {
+                    shootOrder.add(3);
+
+                }
+
+                if (ballIn(2)) {
+                    shootOrder.add(2);
+
+                }
+
+                if (ballIn(1)) {
+                    shootOrder.add(1);
+
+                }
+
+                if (!shootOrder.contains(3)) {
+
+                    shootOrder.add(3);
+                }
+
+                if (!shootOrder.contains(2)) {
+
+                    shootOrder.add(2);
+                }
+
+                if (!shootOrder.contains(1)) {
+
+                    shootOrder.add(1);
+                }
+
+                shootAll = true;
+                shootPos = drive.localizer.getPose();
+
+            }
+
+//            // Right bumper shoots all balls fastest, ignoring colors
+//            if (gamepad2.leftBumperWasPressed()) {
+//                shootOrder.clear();
+//                shootStamp = getRuntime();
+//
+//                outtake1 = false;
+//                outtake2 = false;
+//                outtake3 = false;
+//
+//                // Fastest order (example: slot 3 → 2 → 1)
+//
+//                if (ballIn(3)) {
+//                    shootOrder.add(3);
+//                }
+//
+//                if (ballIn(2)) {
+//                    shootOrder.add(2);
+//                }
+//                if (ballIn(1)) {
+//                    shootOrder.add(1);
+//                }
+//                shootAll = true;
+//                shootPos = drive.localizer.getPose();
+//
+//            }
+//
+            if (gamepad2.crossWasPressed()) {
+                emergency = true;
+
+            }
+
+            if (gamepad2.leftBumperWasPressed()) {
+                emergency = false;
+            }
+
+            //MISC:
+
+            drive.updatePoseEstimate();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+
+            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
+            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
+            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
+
+            TELE.addData("pose", drive.localizer.getPose());
+            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+            TELE.addData("distanceToGoal", distanceToGoal);
+            TELE.addData("hood", robot.hood.getPosition());
+            TELE.addData("targetVel", vel);
+
+            TELE.addData("shootOrder", shootOrder);
+            TELE.addData("oddColor", oddBallColor);
+
+            aprilTagWebcam.update();
+
+            TELE.update();
+
+            ticker++;
+
+        }
+    }
+
+    // Helper method
+    private boolean checkGreen(List<Boolean> s, List<Double> sT) {
+        if (s.isEmpty()) return false;
+
+        double lastTime = sT.get(sT.size() - 1);
+        int countTrue = 0;
+        int countWindow = 0;
+
+        for (int i = 0; i < s.size(); i++) {
+            if (lastTime - sT.get(i) <= 3.0) {  // element is within 2s of last
+                countWindow++;
+                if (s.get(i)) {
+                    countTrue++;
+                }
+            }
+        }
+
+        if (countWindow == 0) return false; // avoid divide by zero
+        return countTrue > countWindow / 2.0; // more than 50% true
+    }
+
+    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
+        // Set spin positions
+        spindexPos = spindexer;
+
+        // Check if spindexer has reached the target position
+        if (spinOk || getRuntime() - stamp > 1.5) {
+            if (tickerA == 1) {
+                transferStamp = getRuntime();
+                tickerA++;
+                TELE.addLine("tickerSet");
+            }
+
+            if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                robot.transferServo.setPosition(transferServo_in);
+                transferIn = true;
+                TELE.addLine("transferring");
+
+                return true; // still in progress
+
+            } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                robot.transferServo.setPosition(transferServo_out);
+                transferIn = false; // reset for next shot
+                tickerA = 1;        // reset ticker
+                transferStamp = 0.0;
+
+                TELE.addLine("shotFinished");
+
+                return false;       // finished shooting
+            } else {
+                TELE.addLine("sIP");
+                return true; // still in progress
+            }
+        } else {
+            robot.transferServo.setPosition(transferServo_out);
+            tickerA = 1;
+            transferStamp = getRuntime();
+            transferIn = false;
+            return true; // still moving spin
+        }
+    }
+
+    public double hoodAnglePrediction(double x) {
+        if (x < 34) {
+            double L = 1.04471;
+            double U = 0.711929;
+            double Q = 120.02263;
+            double B = 0.780982;
+            double M = 20.61191;
+            double v = 10.40506;
+
+            double inner = 1 + Q * Math.exp(-B * (x - M));
+            return L + (U - L) / Math.pow(inner, 1.0 / v);
+
+        } else {
+            // x >= 34
+            return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
+        }
+    }
+
+    void addOddThenRest(List<Integer> order, boolean oddColor) {
+        // Odd ball first
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddInMiddle(List<Integer> order, boolean oddColor) {
+
+        boolean[] used = new boolean[4];   // index 1..3
+
+        // 1) Add a NON-odd ball first
+        for (int i = 1; i <= 3; i++) {
+            if (getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 2) Add the odd ball second
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) == oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 3) Add the remaining non-odd ball third
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        TELE.addData("works", order);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddLast(List<Integer> order, boolean oddColor) {
+        // Odd ball last
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    // Returns color of ball in slot i (1-based)
+    boolean getBallColor(int slot) {
+        switch (slot) {
+            case 1:
+                return green1;
+            case 2:
+                return green2;
+            case 3:
+                return green3;
+        }
+        return false; // default
+    }
+
+    boolean ballIn(int slot) {
+        switch (slot) {
+            case 1:
+
+                if (!s1T.isEmpty()) {
+
+                    return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 2:
+
+                if (!s2T.isEmpty()) {
+
+                    return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 3:
+
+                if (!s3T.isEmpty()) {
+
+                    return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
+
+                }
+        }
+        return true; // default
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/old.txt

@@ -0,0 +1,793 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
+import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
+import org.firstinspires.ftc.teamcode.subsystems.Transfer;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+@Disabled
+public class old extends LinearOpMode {
+
+    Robot robot;
+
+    Drivetrain drivetrain;
+
+    Intake intake;
+
+    Spindexer spindexer;
+
+    Transfer transfer;
+
+    MultipleTelemetry TELE;
+
+    GamepadEx g1;
+
+    GamepadEx g2;
+
+    public static double defaultSpeed = 1;
+
+    public static double slowMoSpeed = 0.4;
+
+    public static double power = 0.0;
+
+    public static double pos = hoodDefault;
+
+    public boolean all = false;
+
+    public int ticker = 0;
+
+    ToggleButtonReader g1RightBumper;
+
+    ToggleButtonReader g2Circle;
+
+    ToggleButtonReader g2Square;
+
+    ToggleButtonReader g2Triangle;
+
+    ToggleButtonReader g2RightBumper;
+
+    ToggleButtonReader g1LeftBumper;
+
+    ToggleButtonReader g2LeftBumper;
+
+    ToggleButtonReader g2DpadUp;
+
+    ToggleButtonReader g2DpadDown;
+
+    ToggleButtonReader g2DpadRight;
+
+    ToggleButtonReader g2DpadLeft;
+
+    public boolean leftBumper = false;
+    public double g1RightBumperStamp = 0.0;
+
+    public double g1LeftBumperStamp = 0.0;
+
+    public double g2LeftBumperStamp = 0.0;
+
+    public static int spindexerPos = 0;
+
+    public boolean green = false;
+
+    Shooter shooter;
+
+    public boolean scoreAll = false;
+
+    MecanumDrive drive;
+
+    public boolean autotrack = false;
+
+    public int last = 0;
+    public int second = 0;
+
+    public double offset = 0.0;
+
+    public static double rIn = 0.59;
+
+    public static double rOut = 0;
+
+    public boolean notShooting = true;
+
+    public boolean circle = false;
+
+    public boolean square = false;
+
+    public boolean tri = false;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(),
+                telemetry
+        );
+
+        g1 = new GamepadEx(gamepad1);
+
+        g1RightBumper = new ToggleButtonReader(
+                g1, GamepadKeys.Button.RIGHT_BUMPER
+        );
+
+        g2 = new GamepadEx(gamepad2);
+
+        g1LeftBumper = new ToggleButtonReader(
+                g1, GamepadKeys.Button.LEFT_BUMPER
+        );
+
+        g2Circle = new ToggleButtonReader(
+                g2, GamepadKeys.Button.B
+        );
+
+        g2Triangle = new ToggleButtonReader(
+                g2, GamepadKeys.Button.Y
+        );
+
+        g2Square = new ToggleButtonReader(
+                g2, GamepadKeys.Button.X
+        );
+
+        g2RightBumper = new ToggleButtonReader(
+                g2, GamepadKeys.Button.RIGHT_BUMPER
+        );
+
+        g2LeftBumper = new ToggleButtonReader(
+                g2, GamepadKeys.Button.LEFT_BUMPER
+        );
+
+        g2DpadUp = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_UP
+        );
+
+        g2DpadDown = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_DOWN
+        );
+
+        g2DpadLeft = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_LEFT
+        );
+
+        g2DpadRight = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_RIGHT
+        );
+
+        drivetrain = new Drivetrain(robot, TELE, g1);
+
+        drivetrain.setMode("Default");
+
+        drivetrain.setDefaultSpeed(defaultSpeed);
+
+        drivetrain.setSlowSpeed(slowMoSpeed);
+
+        intake = new Intake(robot);
+
+        transfer = new Transfer(robot);
+
+        spindexer = new Spindexer(robot, TELE);
+
+        spindexer.setTelemetryOn(true);
+
+        shooter = new Shooter(robot, TELE);
+
+        shooter.setShooterMode("MANUAL");
+
+        robot.rejecter.setPosition(rIn);
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        while (opModeIsActive()) {
+
+            drive.updatePoseEstimate();
+
+            TELE.addData("pose", drive.localizer.getPose());
+
+            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+
+            TELE.addData("off", offset);
+
+            robot.hood.setPosition(pos);
+
+            g1LeftBumper.readValue();
+
+            if (g1LeftBumper.wasJustPressed()) {
+                g2LeftBumperStamp = getRuntime();
+
+                spindexer.intakeShake(getRuntime());
+
+                leftBumper = true;
+            }
+
+            if (leftBumper) {
+                double time = getRuntime() - g2LeftBumperStamp;
+
+                if (time < 1.0) {
+                    robot.rejecter.setPosition(rOut);
+                } else {
+                    robot.rejecter.setPosition(rIn);
+                }
+
+            }
+
+            intake();
+
+            drivetrain.update();
+
+            TELE.update();
+
+            transfer.update();
+
+            g2RightBumper.readValue();
+
+            g2LeftBumper.readValue();
+
+            g2DpadDown.readValue();
+
+            g2DpadUp.readValue();
+
+            if (!scoreAll) {
+                spindexer.checkForBalls();
+            }
+
+            if (g2DpadUp.wasJustPressed()) {
+                pos -= 0.02;
+            }
+
+            if (g2DpadDown.wasJustPressed()) {
+                pos += 0.02;
+            }
+
+            g2DpadLeft.readValue();
+
+            g2DpadRight.readValue();
+
+            if (g2DpadLeft.wasJustPressed()) {
+                offset -= 0.02;
+            }
+
+            if (g2DpadRight.wasJustPressed()) {
+                offset += 0.02;
+            }
+
+            TELE.addData("hood", pos);
+
+            if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
+
+                shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
+
+            } else {
+
+                autotrack = false;
+
+                shooter.moveTurret(0.3 + offset);
+
+            }
+
+            if (gamepad2.right_stick_button) {
+                autotrack = true;
+            }
+
+            if (g2RightBumper.wasJustPressed()) {
+                transfer.setTransferPower(1);
+                transfer.transferIn();
+                shooter.setManualPower(1);
+
+                notShooting = false;
+
+            }
+
+            if (g2RightBumper.wasJustReleased()) {
+                transfer.setTransferPower(1);
+                transfer.transferOut();
+            }
+
+            if (gamepad2.left_stick_y > 0.5) {
+
+                shooter.setManualPower(0);
+            } else if (gamepad2.left_stick_y < -0.5) {
+                shooter.setManualPower(1);
+            }
+
+            if (g2LeftBumper.wasJustPressed()) {
+                g2LeftBumperStamp = getRuntime();
+                notShooting = false;
+                scoreAll = true;
+            }
+
+            if (scoreAll) {
+                double time = getRuntime() - g2LeftBumperStamp;
+
+                shooter.setManualPower(1);
+
+                TELE.addData("greenImportant", green);
+
+                TELE.addData("last", last);
+                TELE.addData("2ndLast", second);
+
+                int numGreen = spindexer.greens();
+
+                if (square) {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+                } else if (tri) {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakePurple(second, last);
+                            } else {
+                                last = spindexer.outtakeGreen(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+                } else if (circle) {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakePurple(second, last);
+                            } else {
+                                last = spindexer.outtakeGreen(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+                } else {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        if (gamepad2.right_trigger > 0.5) {
+                            green = false;
+
+                            all = gamepad2.left_trigger > 0.5;
+
+                        } else if (gamepad2.left_trigger > 0.5) {
+                            green = true;
+
+                            all = false;
+                        } else {
+                            all = true;
+                        }
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (all) {
+                                spindexer.outtake3();
+                                last = 3;
+                                second = 3;
+                            } else if (green) {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        if (gamepad2.right_trigger > 0.5) {
+                            green = false;
+
+                            all = gamepad2.left_trigger > 0.5;
+
+                        } else if (gamepad2.left_trigger > 0.5) {
+                            green = true;
+
+                            all = false;
+
+                        }
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (all) {
+                                spindexer.outtake2();
+
+                                last = 2;
+                            } else if (green) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        if (gamepad2.right_trigger > 0.5) {
+                            green = false;
+
+                            all = gamepad2.left_trigger > 0.5;
+
+                        } else if (gamepad2.left_trigger > 0.5) {
+                            green = true;
+
+                            all = false;
+                        }
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (all) {
+                                spindexer.outtake1();
+                            } else if (green) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+
+                }
+            }
+
+            shooter.update();
+
+        }
+
+    }
+
+    public void intake() {
+
+        g1RightBumper.readValue();
+
+        g2Circle.readValue();
+
+        g2Square.readValue();
+
+        g2Triangle.readValue();
+
+        if (g1RightBumper.wasJustPressed()) {
+
+            notShooting = true;
+
+            if (getRuntime() - g1RightBumperStamp < 0.3) {
+                intake.reverse();
+            } else {
+                intake.toggle();
+            }
+
+            if (intake.getIntakeState() == 1) {
+                shooter.setManualPower(0);
+            }
+
+            spindexer.intake();
+
+            transfer.transferOut();
+
+            g1RightBumperStamp = getRuntime();
+
+        }
+
+        if (intake.getIntakeState() == 1 && notShooting) {
+
+            spindexer.intakeShake(getRuntime());
+
+        } else {
+            if (g2Circle.wasJustPressed()) {
+                circle = true;
+                tri = false;
+                square = false;
+
+            }
+
+            if (g2Triangle.wasJustPressed()) {
+                circle = false;
+                tri = true;
+                square = false;
+            }
+
+            if (g2Square.wasJustPressed()) {
+                circle = false;
+                tri = false;
+                square = true;
+            }
+
+            if (gamepad2.x) {
+                circle = false;
+                tri = false;
+                square = false;
+            }
+
+        }
+
+        intake.update();
+
+        spindexer.update();
+
+    }
+}
+

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ActiveColorSensorTest.txt

@@ -0,0 +1,144 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+
+@TeleOp
+@Config
+public class ActiveColorSensorTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+
+    @Override
+    public void runOpMode() throws InterruptedException{
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        int b1Purple = 1;
+        int b1Total = 1;
+        int b2Purple = 1;
+        int b2Total = 1;
+        int b3Purple = 1;
+        int b3Total = 1;
+
+        double totalStamp1 = 0.0;
+        double purpleStamp1 = 0.0;
+        double totalStamp2 = 0.0;
+        double purpleStamp2 = 0.0;
+        double totalStamp3 = 0.0;
+        double purpleStamp3 = 0.0;
+
+        String b1 = "none";
+        String b2 = "none";
+        String b3 = "none";
+
+        double position = 0.0;
+
+        double stamp = getRuntime();
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+
+            if ((getRuntime() % 0.3) >0.15) {
+                position = spindexer_intakePos1 + 0.015;
+            } else {
+                position = spindexer_intakePos1 - 0.015;
+            }
+            robot.spin1.setPosition(position);
+            robot.spin2.setPosition(1-position);
+
+            robot.intake.setPower(1);
+
+            // Reset the counters after 1 second of not reading a ball.
+            final double ColorCounterResetDelay = 1.0;
+            // Number of times the loop needs to run before deciding on a color.
+            final int ColorCounterTotalMinCount = 20;
+            // If the color sensor reads a color this percentage of time
+            // out of the total, declare the color.
+            // Usage: (Color Count)/(Total Count) > ColorCounterThreshold
+            final double ColorCounterThreshold  = 0.65;
+
+            if (robot.pin1.getState()){
+                if (robot.pin0.getState()){
+                    b1Purple ++;
+                }
+                b1Total++;
+                totalStamp1 = getRuntime();
+            }
+            if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
+                b1 = "none";
+                b1Total = 1;
+                b1Purple = 1;
+            }else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
+            // Enough Time has passed and we met the threshold
+                b1 = "Purple";
+            }else if (b1Total > ColorCounterTotalMinCount) {
+            // Enough Time passed WITHOUT meeting the threshold
+                b1 = "Green";
+            }
+
+            if (robot.pin3.getState()){
+                if (robot.pin2.getState()){
+                    b2Purple ++;
+                }
+                b2Total++;
+                totalStamp2 = getRuntime();
+            }
+            if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
+                b2 = "none";
+                b2Total = 1;
+                b2Purple = 1;
+            }else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
+                // Enough Time has passed and we met the threshold
+                b2 = "Purple";
+            }else if (b2Total > ColorCounterTotalMinCount) {
+                // Enough Time passed WITHOUT meeting the threshold
+                b2 = "Green";
+            }
+
+            if (robot.pin5.getState()){
+                if (robot.pin4.getState()){
+                    b3Purple ++;
+                }
+                b3Total++;
+                totalStamp3 = getRuntime();
+            }
+            if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
+                b3 = "none";
+                b3Total = 1;
+                b3Purple = 1;
+            }else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
+                // Enough Time has passed and we met the threshold
+                b3 = "Purple";
+            }else if (b3Total > ColorCounterTotalMinCount) {
+                // Enough Time passed WITHOUT meeting the threshold
+                b3 = "Green";
+            }
+
+            TELE.addData("Green1:", robot.pin1.getState());
+            TELE.addData("Purple1:", robot.pin0.getState());
+            TELE.addData("Green2:", robot.pin3.getState());
+            TELE.addData("Purple2:", robot.pin2.getState());
+            TELE.addData("Green3:", robot.pin5.getState());
+            TELE.addData("Purple3:", robot.pin4.getState());
+            TELE.addData("1", b1);
+            TELE.addData("2",b2);
+            TELE.addData("3",b3);
+
+            TELE.update();
+        }
+    }
+
+}

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

@@ -0,0 +1,37 @@
+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.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class AprilTagWebcamExample extends OpMode {
+
+    MultipleTelemetry TELE;
+    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
+
+    @Override
+    public void init() {
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
+
+    }
+
+    @Override
+    public void loop() {
+
+        aprilTagWebcam.update();
+        aprilTagWebcam.displayAllTelemetry();
+        TELE.update();
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.txt

@@ -0,0 +1,63 @@
+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.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@TeleOp
+@Config
+public class ColorSensorTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+// ----- COLOR 1 -----
+            double green1 = robot.color1.getNormalizedColors().green;
+            double blue1  = robot.color1.getNormalizedColors().blue;
+            double red1   = robot.color1.getNormalizedColors().red;
+
+            TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
+            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
+
+
+// ----- COLOR 2 -----
+            double green2 = robot.color2.getNormalizedColors().green;
+            double blue2  = robot.color2.getNormalizedColors().blue;
+            double red2   = robot.color2.getNormalizedColors().red;
+
+            TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
+            TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
+            TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
+
+
+// ----- COLOR 3 -----
+            double green3 = robot.color3.getNormalizedColors().green;
+            double blue3  = robot.color3.getNormalizedColors().blue;
+            double red3   = robot.color3.getNormalizedColors().red;
+
+            TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
+            TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
+            TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
+
+
+            TELE.update();
+        }
+    }
+
+
+}

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

@@ -1,61 +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.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DigitalChannel;
-
-@Config
-@TeleOp
-
-@Disabled
-public class ColorSensorTester extends LinearOpMode {
-
-
-    public static String portAName = "pin0";
-
-    public static String portBName = "pin1";
-
-
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-
-        DigitalChannel pinA = hardwareMap.digitalChannel.get(portAName);
-        DigitalChannel pinB = hardwareMap.digitalChannel.get(portBName);
-
-
-
-
-        MultipleTelemetry TELE = new MultipleTelemetry(
-                telemetry,
-                FtcDashboard.getInstance().getTelemetry()
-        );
-
-
-
-        waitForStart();
-
-        if(isStopRequested()) return;
-
-        while(opModeIsActive()){
-
-            TELE.addData("pinA", pinA.getState());
-            TELE.addData("pinB", pinB.getState());
-
-            TELE.update();
-
-
-
-
-        }
-
-
-
-    }
-}

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

@@ -0,0 +1,55 @@
+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.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class ColorTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while(opModeIsActive()){
+            double green1 = robot.color1.getNormalizedColors().green;
+            double blue1 = robot.color1.getNormalizedColors().blue;
+            double red1 = robot.color1.getNormalizedColors().red;
+
+            TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
+            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
+
+// ----- COLOR 2 -----
+            double green2 = robot.color2.getNormalizedColors().green;
+            double blue2 = robot.color2.getNormalizedColors().blue;
+            double red2 = robot.color2.getNormalizedColors().red;
+
+            TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
+            TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
+            TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
+
+// ----- COLOR 3 -----
+            double green3 = robot.color3.getNormalizedColors().green;
+            double blue3 = robot.color3.getNormalizedColors().blue;
+            double red3 = robot.color3.getNormalizedColors().red;
+
+            TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
+            TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
+            TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
+
+            TELE.update();
+        }
+    }
+}

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

@@ -0,0 +1,223 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Config
+@TeleOp
+public class IntakeTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    List<Double> s1G = new ArrayList<>();
+    List<Double> s2G = new ArrayList<>();
+    List<Double> s3G = new ArrayList<>();
+    List<Double> s1T = new ArrayList<>();
+    List<Double> s2T = new ArrayList<>();
+    List<Double> s3T = new ArrayList<>();
+    List<Boolean> s1 = new ArrayList<>();
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    public static int mode = 0; // 0 for teleop, 1 for auto
+    public static double manualPow = 0.15;
+    double stamp = 0;
+    int ticker = 0;
+    boolean steadySpin = false;
+    double powPID = 0.0;
+    boolean intake = true;
+    double spindexerPos = spindexer_intakePos1;
+    boolean wasMoving = false;
+    double currentPos = 0.0;
+    double initPos = 0.0;
+    boolean reverse = false;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        robot = new Robot(hardwareMap);
+        servo = new Servos(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+            if (mode == 0) {
+                if (gamepad1.right_bumper) {
+                    ticker++;
+                    if (ticker % 16 == 0){
+                        currentPos = servo.getSpinPos();
+                        if (Math.abs(currentPos - initPos) == 0.0){
+                            reverse = !reverse;
+                        }
+                        initPos = currentPos;
+                    }
+                    if (reverse){
+                        robot.spin1.setPower(manualPow);
+                        robot.spin2.setPower(-manualPow);
+                    } else {
+                        robot.spin1.setPower(-manualPow);
+                        robot.spin2.setPower(manualPow);
+                    }
+                    robot.intake.setPower(1);
+                    stamp = getRuntime();
+                    TELE.addData("Reverse?", reverse);
+                    TELE.update();
+                } else {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    if (getRuntime() - stamp < 1) {
+                        robot.intake.setPower(-(getRuntime() - stamp)*2);
+                    } else {
+                        robot.intake.setPower(0);
+                    }
+
+                    ticker = 0;
+                }
+            } else if (mode == 1) {
+
+                if (gamepad1.right_bumper && intake){
+                    robot.intake.setPower(1);
+                } else if (gamepad1.left_bumper){
+                    robot.intake.setPower(-1);
+                } else {
+                    robot.intake.setPower(0);
+                }
+
+                colorDetect();
+                spindexer();
+
+                if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
+                    if (!ballIn(2)){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            spindexerPos = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            spindexerPos = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            spindexerPos = spindexer_intakePos1;
+                        }
+                    } else if (!ballIn(3)){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            spindexerPos = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            spindexerPos = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            spindexerPos = spindexer_intakePos2;
+                        }
+                    }
+                }
+
+            } else if (mode == 2){ // switch to this mode before switching modes or to reset balls
+                powPID = 0;
+                spindexerPos = spindexer_intakePos1;
+                stamp = getRuntime();
+                ticker = 0;
+                spindexer();
+                intake = true;
+            }
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
+            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
+            double rx = gamepad1.left_stick_x;
+
+            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+            double frontLeftPower = (y + x + rx) / denominator;
+            double backLeftPower = (y - x + rx) / denominator;
+            double frontRightPower = (y - x - rx) / denominator;
+            double backRightPower = (y + x - rx) / denominator;
+
+            robot.frontLeft.setPower(frontLeftPower);
+            robot.backLeft.setPower(backLeftPower);
+            robot.frontRight.setPower(frontRightPower);
+            robot.backRight.setPower(backRightPower);
+
+            TELE.addData("Manual Power", manualPow);
+            TELE.addData("PID Power", powPID);
+            TELE.addData("B1", ballIn(1));
+            TELE.addData("B2", ballIn(2));
+            TELE.addData("B3", ballIn(3));
+            TELE.addData("Spindex Pos", servo.getSpinPos());
+            TELE.update();
+        }
+    }
+
+    public void colorDetect() {
+        double s1D = robot.color1.getDistance(DistanceUnit.MM);
+        double s2D = robot.color2.getDistance(DistanceUnit.MM);
+        double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+        TELE.addData("Color 1 Distance", s1D);
+        TELE.addData("Color 2 Distance", s2D);
+        TELE.addData("Color 3 Distance", s3D);
+        TELE.update();
+
+        if (s1D < 43) {
+            s1T.add(getRuntime());
+        }
+
+        if (s2D < 60) {
+            s2T.add(getRuntime());
+        }
+
+        if (s3D < 33) {
+            s3T.add(getRuntime());
+        }
+    }
+
+    public void spindexer() {
+        boolean atTarget = servo.spinEqual(spindexerPos);
+
+        if (!atTarget) {
+            powPID = servo.setSpinPos(spindexerPos);
+            robot.spin1.setPower(powPID);
+            robot.spin2.setPower(-powPID);
+
+            steadySpin = false;
+            wasMoving = true;   // remember we were moving
+            stamp = getRuntime();
+        } else {
+            robot.spin1.setPower(0);
+            robot.spin2.setPower(0);
+            steadySpin = true;
+            wasMoving = false;
+        }
+    }
+
+    boolean ballIn(int slot) {
+        List<Double> times;
+
+        if (slot == 1) {times = s1T;}
+        else if (slot == 2) {times = s2T;}
+        else if (slot == 3) {times = s3T;}
+        else return false;
+
+        if (!times.isEmpty()){
+            return times.get(times.size() - 1) > getRuntime() - 2;
+        } else {
+            return false;
+        }
+    }
+
+}

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

@@ -3,55 +3,75 @@ 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.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import org.firstinspires.ftc.teamcode.utils.Robot;
+import java.util.List;
-import org.firstinspires.ftc.teamcode.utils.subsystems.Limelight;
 
-
-@Autonomous
 @Config
-
+@TeleOp
+//TODO: fix to get the apriltag that it is reading
 public class LimelightTest extends LinearOpMode {
-
-    public static String MODE = "AT";
-    public static int pipe = 1;
-
-
     MultipleTelemetry TELE;
-
+    public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
-    Robot robot;
+    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");
-
-        robot = new Robot(hardwareMap);
-
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
+        limelight.pipelineSwitch(pipeline);
-        Limelight limelight = new Limelight(robot, TELE);
-
-        limelight.setMode(MODE);
-
-        limelight.setTelemetryOn(true);
-
         waitForStart();
+        if (isStopRequested()) return;
+        limelight.start();
+        while (opModeIsActive()){
+            if (mode == 0){
+                limelight.pipelineSwitch(pipeline);
+                LLResult result = limelight.getLatestResult();
+                if (result != null) {
+                    if (result.isValid()) {
+                        TELE.addData("tx", result.getTx());
+                        TELE.addData("ty", result.getTy());
+                        TELE.update();
+                    }
+                }
+            } else if (mode == 1){
+                limelight.pipelineSwitch(1);
+                LLResult result = limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        int id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
+                        TELE.update();
+                    }
 
-        if(isStopRequested()) return;
+                }
-
+            } else if (mode == 2){
-        while(opModeIsActive()){
+                limelight.pipelineSwitch(4);
-
+                LLResult result = limelight.getLatestResult();
-            limelight.setPipeline(pipe);
+                if (result != null) {
-
+                    if (result.isValid()) {
-            limelight.setMode(MODE);
+                        TELE.addData("tx", result.getTx());
-
+                        TELE.addData("ty", result.getTy());
-            limelight.update();
+                        TELE.update();
-
+                    }
-            TELE.update();
+                }
-
+            } else if (mode == 3){
+                limelight.pipelineSwitch(5);
+                LLResult result = limelight.getLatestResult();
+                if (result != null) {
+                    if (result.isValid()) {
+                        TELE.addData("tx", result.getTx());
+                        TELE.addData("ty", result.getTy());
+                        TELE.update();
+                    }
+                }
+            } else {
+                limelight.pipelineSwitch(0);
+            }
         }
-
     }
 }

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

@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class MotorDirectionDebugger extends LinearOpMode {
+
+    public static double flPower = 0.0;
+
+    public static double frPower = 0.0;
+
+    public static double blPower = 0.0;
+    public static double brPower = 0.0;
+
+    Robot robot;
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+
+        waitForStart();
+
+        if(isStopRequested()) return;
+
+        while(opModeIsActive()){
+
+            robot.frontLeft.setPower(flPower);
+            robot.frontRight.setPower(frPower);
+            robot.backRight.setPower(brPower);
+            robot.backLeft.setPower(blPower);
+
+
+
+        }
+    }
+}

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

@@ -0,0 +1,65 @@
+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.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@TeleOp
+@Config
+public class PIDServoTest extends LinearOpMode {
+
+    public static double p = 2, i = 0, d = 0, f = 0;
+
+    public static double target = 0.5;
+
+    public static int mode = 0; //0 is for turret, 1 is for spindexer
+
+    public static double scalar = 1.01;
+    public static double restPos = 0.0;
+
+    Robot robot;
+
+    double pos = 0.0;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        PIDFController controller = new PIDFController(p, i, d, f);
+
+        controller.setTolerance(0.001);
+        robot = new Robot(hardwareMap);
+
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+            controller.setPIDF(p, i, d, f);
+            if (mode == 1) {
+                pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
+
+                double pid = controller.calculate(pos, target);
+
+                robot.spin1.setPower(pid);
+                robot.spin2.setPower(-pid);
+            }
+
+            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);
+            telemetry.update();
+
+        }
+
+    }
+
+}

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

@@ -0,0 +1,85 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+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.Robot;
+
+@Config
+@TeleOp
+public class ShooterTest extends LinearOpMode {
+
+    public static int mode = 0;
+    public static double parameter = 0.0;
+    // --- 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;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+        DcMotorEx leftShooter = robot.shooter1;
+        DcMotorEx rightShooter = robot.shooter2;
+        flywheel = new Flywheel(hardwareMap);
+
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+            if (mode == 0) {
+                rightShooter.setPower(parameter);
+                leftShooter.setPower(parameter);
+            } else if (mode == 1) {
+                flywheel.setPIDF(P,I,D,F);
+                flywheel.manageFlywheel((int) Velocity);
+            }
+
+            if (hoodPos != 0.501) {
+                robot.hood.setPosition(hoodPos);
+            }
+
+
+            robot.transfer.setPower(transferPower);
+            if (shoot) {
+                robot.transferServo.setPosition(transferServo_in);
+            } else {
+                robot.transferServo.setPosition(transferServo_out);
+            }
+            TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velocity 1", flywheel.getVelo1());
+            TELE.addData("Velocity 2", flywheel.getVelo2());
+            TELE.addData("Power", robot.shooter1.getPower());
+            TELE.addData("Steady?", flywheel.getSteady());
+            TELE.addData("Position", robot.shooter1.getCurrentPosition());
+
+            TELE.update();
+
+        }
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ed.txt

@@ -0,0 +1,210 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+
+@TeleOp
+@Config
+public class ShooterTest extends LinearOpMode {
+
+    Robot robot;
+
+    public static double pow = 0.0;
+    public static double vel = 0.0;
+    public static double ecpr = 1024.0; // CPR of the encoder
+    public static double hoodPos = 0.5;
+    public static double turretPos = 0.9;
+
+    public static String flyMode = "VEL";
+
+    public static boolean AutoTrack = false;
+
+    double initPos = 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 stamp1 = 0.0;
+
+    double initPos1 = 0.0;
+
+    double powPID = 0.0;
+
+    public static int maxVel = 4500;
+
+    public static boolean shoot = false;
+
+    public static int spindexPos = 1;
+
+    public static boolean intake = true;
+
+    public static int tolerance = 50;
+
+    double stamp = 0.0;
+
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+    public static double distance = 50;
+
+    MultipleTelemetry TELE;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        Shooter shooter = new Shooter(robot, TELE);
+
+        robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        shooter.setTelemetryOn(true);
+
+        shooter.setShooterMode(flyMode);
+
+        initPos = shooter.getECPRPosition();
+
+        int ticker = 0;
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+            ticker++;
+
+            if (AutoTrack){
+                hoodPos = hoodAnglePrediction(distance);
+                vel = velPrediction(distance);
+            }
+
+
+
+            shooter.setShooterMode(flyMode);
+
+            shooter.setManualPower(pow);
+
+            robot.hood.setPosition(hoodPos);
+            robot.turr1.setPosition(turretPos);
+            robot.turr2.setPosition(1 - turretPos);
+            if (intake) {
+                robot.transfer.setPower(0);
+                robot.intake.setPower(0.75);
+                robot.spin1.setPosition(spindexer_intakePos1);
+                robot.spin2.setPosition(1 - spindexer_intakePos1);
+            } else {
+                robot.transfer.setPower(.75 + (powPID/4));
+                robot.intake.setPower(0);
+                if (spindexPos == 1) {
+                    robot.spin1.setPosition(spindexer_outtakeBall1);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall1);
+                } else if (spindexPos == 2) {
+                    robot.spin1.setPosition(spindexer_outtakeBall2);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall2);
+                } else if (spindexPos == 3) {
+                    robot.spin1.setPosition(spindexer_outtakeBall3);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall3);
+                }
+            }
+
+            double penguin = 0;
+            if (ticker % 8 ==0){
+                penguin = shooter.getECPRPosition();
+                stamp = getRuntime();
+                velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
+                initPos1 = penguin;
+                stamp1 = stamp;
+            }
+
+
+            velo = velo1;
+
+            double feed = vel / maxVel;        // Example: vel=2500 → feed=0.5
+
+            if (vel > 500){
+                feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+            }
+
+            // --- PROPORTIONAL CORRECTION ---
+            double error = vel - velo1;
+            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));
+
+            if (vel - velo > 1000){
+                powPID = 1;
+            } else if (velo - vel > 1000){
+                powPID = 0;
+            }
+
+            shooter.setVelocity(powPID);
+
+            if (shoot) {
+                robot.transferServo.setPosition(transferServo_in);
+            } else {
+                robot.transferServo.setPosition(transferServo_out);
+            }
+
+            shooter.update();
+
+            TELE.addData("Revolutions", shooter.getECPRPosition());
+            TELE.addData("hoodPos", shooter.gethoodPosition());
+            TELE.addData("turretPos", shooter.getTurretPosition());
+            TELE.addData("Power Fly 1", robot.shooter1.getPower());
+            TELE.addData("Power Fly 2", robot.shooter2.getPower());
+            TELE.addData("powPID", shooter.getpowPID());
+            TELE.addData("Velocity", velo);
+            TELE.update();
+
+
+        }
+
+    }
+
+    public double hoodAnglePrediction(double distance) {
+        double L = 0.298317;
+        double A = 1.02124;
+        double k = 0.0157892;
+        double n = 3.39375;
+
+        double dist = Math.sqrt(distance*distance+24*24);
+
+        return L + A * Math.exp(-Math.pow(k * dist, n));
+    }
+    public static double velPrediction(double distance) {
+
+        double x = Math.sqrt(distance*distance+24*24);
+
+
+
+        double A = -211149.992;
+        double B = -1.19943;
+        double C = 3720.15909;
+
+        return A * Math.pow(x, B) + C;
+    }
+
+}

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

@@ -0,0 +1,104 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import android.util.Size;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class AprilTagWebcam {
+
+    private AprilTagProcessor aprilTagProcessor;
+    private VisionPortal visionPortal;
+    private List<AprilTagDetection> detectedTags = new ArrayList<>();
+    private MultipleTelemetry telemetry;
+    public void init(Robot robot, MultipleTelemetry TELE){
+
+        this.telemetry = TELE;
+
+        aprilTagProcessor = new AprilTagProcessor.Builder()
+                .setDrawTagID(true)
+                .setDrawTagOutline(true)
+                .setDrawAxes(true)
+                .setDrawCubeProjection(true)
+                .setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
+                .build();
+
+        VisionPortal.Builder builder = new VisionPortal.Builder();
+        builder.setCamera(robot.webcam);
+        builder.setCameraResolution(new Size(640, 480));
+        builder.addProcessor(aprilTagProcessor);
+
+        visionPortal = builder.build();
+
+    }
+
+    public void update() {
+        detectedTags = aprilTagProcessor.getDetections();
+    }
+
+    public List<AprilTagDetection> getDetectedTags() {
+        return detectedTags;
+    }
+
+    public AprilTagDetection getTagById(int id){
+        for (AprilTagDetection detection : detectedTags) {
+            if (detection.id ==id){
+                return detection;
+            }
+        }
+        return null;
+    }
+
+    public void stop(){
+        if (visionPortal != null){
+            visionPortal.close();
+        }
+    }
+
+    //Helper Functions
+
+    public void displayDetectionTelemetry (AprilTagDetection detectedId){
+        if (detectedId ==null){return;}
+
+        if (detectedId.metadata != null) {
+            telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
+            telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
+            telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
+            telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
+        } else {
+            telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
+            telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detectedId.center.x, detectedId.center.y));
+        }
+    }
+
+    public void displayAllTelemetry (){
+        if (detectedTags ==null){return;}
+
+        telemetry.addData("# AprilTags Detected", detectedTags.size());
+
+
+        for (AprilTagDetection detection : detectedTags) {
+            if (detection.metadata != null) {
+                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } else {
+                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
+                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
+            }
+        }   // end for() loop
+    }
+
+
+
+
+}

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

@@ -1,25 +1,34 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
 
-@Disabled
+@Config
 @TeleOp
 public class ConfigureColorRangefinder extends LinearOpMode {
+
+
+
+    public static double lowerBound = 80;
+    public static double higherBound = 120;
+
+    public static int led = 0;
+
     @Override
     public void runOpMode() throws InterruptedException {
-        ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "Color"));
+        ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "color"));
         waitForStart();
         /* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
             pin0 --> purple
             pin1 --> green */
-        crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 160 / 360.0 * 255, 190 / 360.0 * 255); // purple
+        crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 3,  20);
-        crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
+        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, lowerBound, higherBound); // green
-        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 110 / 360.0 * 255, 140 / 360.0 * 255); // green
+        crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); //25 mm or closer
-        crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
+        crf.setLedBrightness(led);
+
     }
 }
 

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

@@ -0,0 +1,89 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+
+public class Flywheel {
+    Robot robot;
+    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 targetVelocity = 0.0;
+    double powPID = 0.0;
+    boolean steady = false;
+    public Flywheel (HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+    }
+
+    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.
+    public void setPIDF(double p, double i, double d, double f) {
+        robot.shooterPIDF.p = p;
+        robot.shooterPIDF.i = i;
+        robot.shooterPIDF.d = d;
+        robot.shooterPIDF.f = f;
+    }
+    private double getTimeSeconds ()
+    {
+        return (double) System.currentTimeMillis()/1000.0;
+    }
+
+    // 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
+    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
+
+    public double manageFlywheel(double commandedVelocity) {
+        targetVelocity = commandedVelocity;
+
+        // Turn PIDF for Target Velocities
+        //robot.shooterPIDF.p = P;
+        //robot.shooterPIDF.i = I;
+        //robot.shooterPIDF.d = D;
+        //robot.shooterPIDF.f = F;
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+
+        // Record Current Velocity
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter1.getVelocity()); // Possible error: should it be shooter2 not shooter1?
+        velo = Math.max(velo1,velo2);
+
+        // really should be a running average of the last 5
+        steady = (Math.abs(targetVelocity - velo) < 200.0);
+
+        return powPID;
+    }
+
+    public void update()
+    {
+    }
+}

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

@@ -0,0 +1,110 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class FlywheelV2 {
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+    double initPos1 = 0.0;
+    double initPos2 = 0.0;
+    double stamp = 0.0;
+    double stamp1 = 0.0;
+    double ticker = 0.0;
+    double currentPos1 = 0.0;
+    double currentPos2 = 0.0;
+    double velo = 0.0;
+    double velo1 = 0.0;
+    double velo1a = 0.0;
+    double velo1b = 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 FlywheelV2() {
+        //robot = new Robot(hardwareMap);
+    }
+
+    public double getVelo(double shooter1CurPos, double shooter2CurPos) {
+        ticker++;
+        if (ticker % 2 == 0) {
+            velo5 = velo4;
+            velo4 = velo3;
+            velo3 = velo2;
+            velo2 = velo1;
+
+            currentPos1 = shooter1CurPos / 28;
+            currentPos2 = shooter2CurPos / 28;
+            stamp = getTimeSeconds(); //getRuntime();
+            velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
+            velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
+            initPos1 = currentPos1;
+            initPos2 = currentPos2;
+            stamp1 = stamp;
+
+            if (velo1a < 200){
+                velo1 = velo1b;
+            } else if (velo1b < 200){
+                velo1 = velo1a;
+            } else {
+                velo1 = (velo1a + velo1b) / 2;
+            }
+        }
+        return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
+    }
+
+    public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
+
+    public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
+
+    public boolean getSteady() {
+        return steady;
+    }
+
+    private double getTimeSeconds() {
+        return (double) System.currentTimeMillis() / 1000.0;
+    }
+
+    public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
+        targetVelocity = commandedVelocity;
+        velo = getVelo(shooter1CurPos, shooter2CurPos);
+        // Flywheel PID code here
+        if (targetVelocity - velo > 4500) {
+            powPID = 1.0;
+        } else if (velo - targetVelocity > 4500) {
+            powPID = 0.0;
+        } else {
+
+            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;
+            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));
+        }
+
+        steady = (Math.abs(targetVelocity - velo) < 100.0);
+
+        return powPID;
+    }
+
+    public void update() {
+    }
+}

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

@@ -0,0 +1,79 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+@TeleOp
+@Config
+public class PositionalServoProgrammer extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+
+    public static double spindexPos = 0.501;
+    public static double spindexPow = 0.0;
+    public static double spinHoldPow = 0.0;
+    public static double turretPos = 0.501;
+    public static double turretPow = 0.0;
+    public static double turrHoldPow = 0.0;
+    public static double transferPos = 0.501;
+    public static double hoodPos = 0.501;
+    public static int mode = 0; //0 for positional, 1 for power
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        servo = new Servos(hardwareMap);
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()){
+            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
+                double pos = servo.setSpinPos(spindexPos);
+                robot.spin1.setPower(pos);
+                robot.spin2.setPower(-pos);
+            } else if (mode == 0){
+                robot.spin1.setPower(spinHoldPow);
+                robot.spin2.setPower(spinHoldPow);
+            } else {
+                robot.spin1.setPower(spindexPow);
+                robot.spin2.setPower(-spindexPow);
+            }
+            if (turretPos != 0.501){
+                robot.turr1.setPosition(turretPos);
+                robot.turr2.setPosition(1-turretPos);
+            }
+            if (transferPos != 0.501){
+                robot.transferServo.setPosition(transferPos);
+            }
+            if (hoodPos != 0.501){
+                robot.hood.setPosition(hoodPos);
+            }
+            // To check configuration of spindexer:
+            // Set "mode" to 1 and spindexPow to 0.1
+            // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
+            // Do the previous test again to confirm
+            // Set "mode" to 0 but keep spindexPos at 0.501
+            // Manually turn the spindexer until "spindexer pos" is set close to 0
+            // Check each spindexer voltage:
+                // If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
+                // 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("turret pos", servo.getTurrPos());
+            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

@@ -1,19 +1,128 @@
 package org.firstinspires.ftc.teamcode.utils;
 
 import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.hardware.rev.RevColorSensorV3;
+import com.qualcomm.robotcore.hardware.AnalogInput;
+import com.qualcomm.robotcore.hardware.CRServo;
+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;
 
 public class Robot {
 
     //Initialize Public Components
 
-    public Limelight3A limelight3A;
+    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 Robot (HardwareMap hardwareMap) {
+    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 Servo turr2;
+    public CRServo spin1;
+    public CRServo spin2;
+    public AnalogInput spin1Pos;
+    public AnalogInput spin2Pos;
+    public DcMotorEx turr1Pos;
+    public AnalogInput transferServoPos;
+    public AprilTagProcessor aprilTagProcessor;
+    public WebcamName webcam;
+    public RevColorSensorV3 color1;
+    public RevColorSensorV3 color2;
+    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
+        //TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
+        frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
+        frontRight = hardwareMap.get(DcMotorEx.class, "fr");
+        backLeft = hardwareMap.get(DcMotorEx.class, "bl");
+        backRight = hardwareMap.get(DcMotorEx.class, "br");
+        frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+        backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
 
-        limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
+        frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
 
+        intake = hardwareMap.get(DcMotorEx.class, "intake");
+
+        shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
+
+        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_USING_ENCODER);
+        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+
+        hood = hardwareMap.get(Servo.class, "hood");
+
+        turr1 = hardwareMap.get(Servo.class, "t1");
+
+        turr2 = hardwareMap.get(Servo.class, "t2");
+
+        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");
+
+        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
+
+        spin2 = hardwareMap.get(CRServo.class, "spin2");
+
+        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
+
+        spin1.setDirection(DcMotorSimple.Direction.REVERSE);
+        spin2.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        transfer = hardwareMap.get(DcMotorEx.class, "transfer");
+
+        transferServo = hardwareMap.get(Servo.class, "transferServo");
+
+        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
+
+        transfer.setDirection(DcMotorSimple.Direction.REVERSE);
+        transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
+
+        color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
+
+        color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
+
+        if (usingLimelight){
+            limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        } else if (usingCamera){
+            webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
+            aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
+        }
     }
 }

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

@@ -0,0 +1,60 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+@Config
+public class Servos {
+    //PID constants
+    // TODO: get PIDF constants
+    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
+    public static double spin_scalar = 1.0086;
+    public static double spin_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) {
+        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() {
+        return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
+    }
+
+    //TODO: PID warp so 0 and 1 are usable positions
+    public double setSpinPos(double pos) {
+        spinPID.setPIDF(spinP, spinI, spinD, spinF);
+
+        return spinPID.calculate(this.getSpinPos(), pos);
+    }
+
+    public boolean spinEqual(double pos) {
+        return Math.abs(pos - this.getSpinPos()) < 0.02;
+    }
+
+    public double getTurrPos() {
+        return (double) ((double) robot.turr1Pos.getCurrentPosition() / 1024.0) * ((double) 44.0 / (double) 77.0);
+
+    }
+
+    public double setTurrPos(double pos) {
+        turretPID.setPIDF(turrP, turrI, turrD, turrF);
+
+        return spinPID.calculate(this.getTurrPos(), pos);
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < 0.01;
+    }
+}

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

@@ -0,0 +1,400 @@
+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,
+        INTAKE,
+        FINDNEXT,
+        MOVING,
+        FULL,
+        SHOOTNEXT,
+        SHOOTMOVING,
+        SHOOTWAIT,
+    };
+
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN;
+
+    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;
+    }
+
+    // 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 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;
+
+            // 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;
+            // FIXIT: Comment out for now due to loop time concerns
+//            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;  // purple
+//           } else {
+//               b2 = 1;  // green
+//           }
+        } 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;
+            // FIXIT: Comment out for now due to loop time concerns
+//            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;  // purple
+//           } else {
+//               b3 = 1;  // green
+//           }
+        } 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:
+                // For now just set position ONE if UNKNOWN
+                commandedIntakePosition = 0;
+                servos.setSpinPos(intakePositions[0]);
+                currentIntakeState = Spindexer.IntakeState.MOVING;
+                break;
+            case INTAKE:
+                // Ready for intake and Detecting a New Ball
+                if (detectBalls()) {
+                    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();
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            case FULL:
+                // Double Check Colors
+                detectBalls();
+                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();
+                } 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/Subsystem.java

@@ -1,8 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-public interface Subsystem {
-
-    public void update();
-
-
-}

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

@@ -1,10 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-
-import com.acmerobotics.dashboard.config.Config;
-
-@Config
-public class Vars {
-
-    public static boolean USING_LL = false;
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/functions/DistanceToTarget.java

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils.functions;
-
-public class DistanceToTarget {
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/subsystems/Limelight.java

@@ -1,181 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils.subsystems;
-
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.LLStatus;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
-import org.firstinspires.ftc.robotcore.external.navigation.Position;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Subsystem;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Objects;
-
-public class Limelight implements Subsystem {
-
-    private final Limelight3A limelight;
-    private final MultipleTelemetry telemetry;
-
-    private LLResult result;
-    private LLStatus status;
-
-    private boolean telemetryOn = false;
-    private String mode = "AT";
-
-    // ✅ Internal cached data
-    private Pose3D botpose;
-
-    private double captureLatency = 0.0;
-    private double targetingLatency = 0.0;
-    private double parseLatency = 0.0;
-    private double[] pythonOutput = new double[0];
-
-    private double tx = 0.0;
-    private double txnc = 0.0;
-    private double ty = 0.0;
-    private double tync = 0.0;
-
-    private List<LLResultTypes.BarcodeResult> barcodeResults = new ArrayList<>();
-    private List<LLResultTypes.ClassifierResult> classifierResults = new ArrayList<>();
-    private List<LLResultTypes.DetectorResult> detectorResults = new ArrayList<>();
-    private List<LLResultTypes.FiducialResult> fiducialResults = new ArrayList<>();
-    private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
-
-    public Limelight(Robot robot, MultipleTelemetry tele) {
-        this.limelight = robot.limelight3A;
-        this.telemetry = tele;
-        limelight.pipelineSwitch(1);
-
-
-    }
-
-    public void setPipeline(int pipeline) {limelight.pipelineSwitch(pipeline);}
-
-    public void setTelemetryOn(boolean state) { telemetryOn = state; }
-
-    public void setMode(String newMode) { this.mode = newMode; }
-
-    /** ✅ MAIN UPDATE LOOP */
-    @Override
-    public void update() {
-        result = limelight.getLatestResult();
-        status = limelight.getStatus();
-
-        if (result != null && (Objects.equals(status.getPipelineType(), "pipe_python") || result.isValid())){
-            // Refresh all cached values
-            botpose         = result.getBotpose();
-            captureLatency  = result.getCaptureLatency();
-            targetingLatency= result.getTargetingLatency();
-            parseLatency    = result.getParseLatency();
-            pythonOutput    = result.getPythonOutput();
-            tx              = result.getTx();
-            txnc            = result.getTxNC();
-            ty              = result.getTy();
-            tync            = result.getTyNC();
-            barcodeResults  = result.getBarcodeResults();
-            classifierResults = result.getClassifierResults();
-            detectorResults   = result.getDetectorResults();
-            fiducialResults   = result.getFiducialResults();
-            colorResults      = result.getColorResults();
-        }
-
-        if (telemetryOn) telemetryUpdate();
-    }
-
-    /** ✅ Telemetry Output */
-    private void telemetryUpdate() {
-// ✅ Use getters instead of directly accessing 'status' or cached fields
-        telemetry.addData("Name", "%s", getStatus().getName());
-        telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
-                getStatus().getTemp(),
-                getStatus().getCpu(),
-                (int) getStatus().getFps());
-        telemetry.addData("Pipeline", "Index: %d, Type: %s",
-                getStatus().getPipelineIndex(),
-                getStatus().getPipelineType());
-        telemetry.addData("ResultNull", result == null);
-        telemetry.addData("ResultValid", result.isValid());
-
-
-
-        if (result != null && result.isValid()) {
-            telemetry.addData("LL Latency", getTotalLatency());
-            telemetry.addData("Capture Latency", getCaptureLatency());
-            telemetry.addData("Targeting Latency", getTargetingLatency());
-            telemetry.addData("Parse Latency", getParseLatency());
-            telemetry.addData("PythonOutput", java.util.Arrays.toString(getPythonOutput()));
-            telemetry.addData("tx", getTx());
-            telemetry.addData("txnc", getTxNC());
-            telemetry.addData("ty", getTy());
-            telemetry.addData("tync", getTyNC());
-            telemetry.addData("Botpose", getBotPose().toString());
-
-
-            if (Objects.equals(mode, "BR"))
-                for (LLResultTypes.BarcodeResult br : getBarcodeResults())
-                    telemetry.addData("Barcode", "Data: %s", br.getData());
-
-            if (Objects.equals(mode, "CL"))
-                for (LLResultTypes.ClassifierResult cr : getClassifierResults())
-                    telemetry.addData("Classifier", "Class: %s, Confidence: %.2f",
-                            cr.getClassName(), cr.getConfidence());
-
-            if (Objects.equals(mode, "DE"))
-                for (LLResultTypes.DetectorResult dr : getDetectorResults())
-                    telemetry.addData("Detector", "Class: %s, Area: %.2f",
-                            dr.getClassName(), dr.getTargetArea());
-
-            if (Objects.equals(mode, "FI"))
-                for (LLResultTypes.FiducialResult fr : getFiducialResults())
-                    telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f",
-                            fr.getFiducialId(), fr.getFamily(),
-                            fr.getTargetXDegrees(), fr.getTargetYDegrees());
-
-            if (Objects.equals(mode, "CO"))
-                for (LLResultTypes.ColorResult cr : getColorResults())
-                    telemetry.addData("Color", "X: %.2f, Y: %.2f",
-                            cr.getTargetXDegrees(), cr.getTargetYDegrees());
-        } else {
-            telemetry.addData("Limelight", "No data available");
-        }
-    }
-
-    // ✅ Getter methods (for use anywhere else in your code)
-
-    public Pose3D getBotPose() {
-        if (botpose == null) {
-            botpose = new Pose3D(
-                    new Position(),
-                    new YawPitchRollAngles(AngleUnit.DEGREES, 0.0, 0.0, 0.0, 0L)
-            );
-        }
-        return botpose;
-    }
-
-    public double getCaptureLatency() { return captureLatency; }
-    public double getTargetingLatency() { return targetingLatency; }
-    public double getTotalLatency() { return captureLatency + targetingLatency; }
-    public double getParseLatency() { return parseLatency; }
-    public double[] getPythonOutput() { return pythonOutput; }
-
-    public double getTx() { return tx; }
-    public double getTxNC() { return txnc; }
-    public double getTy() { return ty; }
-    public double getTyNC() { return tync; }
-
-    public List<LLResultTypes.BarcodeResult> getBarcodeResults() { return barcodeResults; }
-    public List<LLResultTypes.ClassifierResult> getClassifierResults() { return classifierResults; }
-    public List<LLResultTypes.DetectorResult> getDetectorResults() { return detectorResults; }
-    public List<LLResultTypes.FiducialResult> getFiducialResults() { return fiducialResults; }
-    public List<LLResultTypes.ColorResult> getColorResults() { return colorResults; }
-
-    public LLStatus getStatus() { return status; }
-    public LLResult getRawResult() { return result; }
-}