Add Targeting values from shootertesting. Tune flywheel with shootertest. Add additional telemetry.

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/TurretTest.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java

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

@@ -12,7 +12,7 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
 
     public static double rx1 = 40, ry1 = -7, rh1 = 0;
     public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
@@ -38,6 +38,6 @@ public class Poses {
     public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
     public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
 
-    public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
 
 }

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

@@ -5,11 +5,11 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.19;
+    public static double spindexer_intakePos1 = 0.18;
 
-    public static double spindexer_intakePos2 = 0.35;//0.5;
+    public static double spindexer_intakePos2 = 0.36;//0.5;
 
-    public static double spindexer_intakePos3 = 0.51;//0.66;
+    public static double spindexer_intakePos3 = 0.54;//0.66;
 
     public static double spindexer_outtakeBall3 = 0.47;
 

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

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

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

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

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

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

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

@@ -1,11 +1,9 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 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.turrDefault;
 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;
@@ -21,7 +19,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.arcrobotics.ftclib.controller.PIDFController;
-import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -34,6 +32,7 @@ import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
 import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -50,8 +49,6 @@ public class TeleopV3 extends LinearOpMode {
     public static double spindexPos = spindexer_intakePos1;
     public static double spinPow = 0.09;
     public static double bMult = 1, bDiv = 2200;
-    public static double limelightKp = 0.001; // Proportional gain for limelight auto-aim
-    public static double limelightDeadband = 0.5; // Ignore tx values smaller than this
     public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
     public static boolean manualTurret = true;
     public double vel = 3000;
@@ -123,7 +120,7 @@ public class TeleopV3 extends LinearOpMode {
     private double transferStamp = 0.0;
     private int tickerA = 1;
     private boolean transferIn = false;
-    boolean turretInterpolate = true;
+    boolean turretInterpolate = false;
 
     public static double velPrediction(double distance) {
         if (distance < 30) {
@@ -155,7 +152,7 @@ public class TeleopV3 extends LinearOpMode {
         drive = new MecanumDrive(hardwareMap, teleStart);
         spindexer = new Spindexer(hardwareMap);
         targeting = new Targeting();
-        targetingSettings = new Targeting.Settings(0.0,0.0);
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
 
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
@@ -169,6 +166,9 @@ public class TeleopV3 extends LinearOpMode {
 
 //        robot.limelight.start();
 
+        Turret turret = new Turret(robot, TELE, robot.limelight);
+        waitForStart();
+
         waitForStart();
         if (isStopRequested()) return;
 
@@ -382,40 +382,20 @@ public class TeleopV3 extends LinearOpMode {
             double robotY = robY - yOffset;
             double robotHeading = drive.localizer.getPose().heading.toDouble();
 
-            double goalX = -10;
+            double goalX = -15;
             double goalY = 0;
 
-            double dx = goalX - robotX;  // delta x from robot to goal
-            double dy = goalY - robotY;  // delta y from robot to goal
+            double dx = robotX - goalX;  // delta x from robot to goal
+            double dy = robotY - goalY;  // delta y from robot to goal
+            Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
 
             double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 
-            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
-
-            desiredTurretAngle += manualOffset + error;
-
-            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
-
-            if (offset > 135) {
-                offset -= 360;
-            }
-
-            double pos = turrDefault;
-
-            TELE.addData("offset", offset);
-
-            pos -= offset * ((double) 1 / 360);
-
-            if (pos < 0.13) {
-                pos = 0.13;
-            } else if (pos > 0.83) {
-                pos = 0.83;
-            }
-
-
             targetingSettings = targeting.calculateSettings
                     (robotX,robotY,robotHeading,0.0, turretInterpolate);
 
+            turret.trackGoal(deltaPose);
+
             //VELOCITY AUTOMATIC
             if (targetingVel) {
                 vel = targetingSettings.flywheelRPM;
@@ -446,105 +426,28 @@ public class TeleopV3 extends LinearOpMode {
 
             //TODO: test the camera teleop code
 
-            // TODO: TEST THIS CODE
-
-            TELE.addData("posS2", pos);
-
-            LLResult result = robot.limelight.getLatestResult();
-            boolean limelightActive = false;
-            
-            double turretMin = 0.13;
-            double turretMax = 0.83;
-            
-            if (result != null && result.isValid()) {
-                double tx = result.getTx();
-                double ty = result.getTy();
-                
-                if (Math.abs(tx) > limelightDeadband) {
-                    limelightActive = true;
-                    overrideTurr = true;
-                    
-                    double currentTurretPos = servo.getTurrPos();
-                    
-                    // + tx means tag is right, so rotate right
-                    double adjustment = -tx * limelightKp;
-                    
-                    // calculate new position
-                    double newTurretPos = currentTurretPos + adjustment;
-                    
-                    if (newTurretPos < turretMin) {
-                        double forwardDist = turretMin - newTurretPos;
-                        double backwardDist = (currentTurretPos - turretMin) + (turretMax - newTurretPos);
-                        // check path distance
-                        if (backwardDist < forwardDist && backwardDist < (turretMax - turretMin) / 2) {
-                            newTurretPos = turretMax - (turretMin - newTurretPos);
-                        } else {
-                            newTurretPos = turretMin;
-                        }
-                    } else if (newTurretPos > turretMax) {
-                        double forwardDist = newTurretPos - turretMax;
-                        double backwardDist = (turretMax - currentTurretPos) + (newTurretPos - turretMin);
-                        if (backwardDist < forwardDist && backwardDist < (turretMax - turretMin) / 2) {
-                            newTurretPos = turretMin + (newTurretPos - turretMax);
-                        } else {
-                            newTurretPos = turretMax;
-                        }
-                    }
-                    
-                    // Final clamp 
-                    if (newTurretPos < turretMin) {
-                        newTurretPos = turretMin;
-                    } else if (newTurretPos > turretMax) {
-                        newTurretPos = turretMax;
-                    }
-                    
-                    pos = newTurretPos;
-                    turretPos = pos;
-                    
-                    camTicker++;
-                    TELE.addData("tx", tx);
-                    TELE.addData("ty", ty);
-                    TELE.addData("limelightAdjustment", adjustment);
-                    TELE.addData("limelightActive", true);
-                } else {
-                    limelightActive = true;
-                    overrideTurr = true;
-                    TELE.addData("tx", tx);
-                    TELE.addData("ty", ty);
-                    TELE.addData("limelightActive", true);
-                    TELE.addData("limelightStatus", "Centered");
-                }
-            } else {
-                if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) {
-                    TELE.addData("limelightActive", false);
-                    TELE.addData("limelightStatus", "No target");
-                } else {
-                    camTicker = 0;
-                    overrideTurr = false;
-                    limelightActive = false;
-                }
-            }
-
-            if (!limelightActive && !overrideTurr) {
-                turretPos = pos;
-            }
-
-            TELE.addData("posS3", turretPos);
-
-            if (manualTurret && !limelightActive) {
-                pos = turrDefault + (manualOffset / 100) + error;
-            }
-
-            if (!overrideTurr && !limelightActive) {
-                turretPos = pos;
-            }
-
-            if (Math.abs(gamepad2.left_stick_x)>0.2 && !limelightActive) {
-                manualOffset += 1.35 * gamepad2.left_stick_x;
-            }
-
-            robot.turr1.setPosition(pos);
-            robot.turr2.setPosition(1 - pos);
+//            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
+//                double bearing;
+//
+//                LLResult result = robot.light.getLatestResult();
+//                if (result != null) {
+//                    if (result.isValid()) {
+//                        bearing = result.getTx() * bMult;
+//
+//                        double bearingCorrection = bearing / bDiv;
+//
+//                        error += bearingCorrection;
+//
+//                        camTicker++;
+//                        TELE.addData("tx", bearingCorrection);
+//                        TELE.addData("ty", result.getTy());
+//                    }
+//                }
+//
+//            } else {
+//                camTicker = 0;
+//                overrideTurr = false;
+//            }
 
             //HOOD:
 
@@ -729,7 +632,6 @@ public class TeleopV3 extends LinearOpMode {
                 }
             }
 
-
 //
 //            if (shootAll) {
 //
@@ -912,6 +814,8 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
             TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velo1", flywheel.velo1);
+            TELE.addData("Velo2", flywheel.velo2);
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
@@ -927,7 +831,7 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("shootall commanded", shootAll);
             // Targeting Debug
             TELE.addData("robotX", robotX);
-            TELE.addData( "robotY", robotY);
+            TELE.addData("robotY", robotY);
             TELE.addData("robotInchesX", targeting.robotInchesX);
             TELE.addData( "robotInchesY", targeting.robotInchesY);
             TELE.addData("Targeting Interpolate", turretInterpolate);

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

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

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

@@ -1,6 +1,8 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -11,28 +13,40 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
 
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
 
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-
-    public static int mode = 0;
+    public static int mode = 1;
     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 P = 255.0;
+    public static double I = 0.0;
+    public static double D = 0.0;
+    public static double F = 7.5;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
+
+    public static boolean intake = false;
     Robot robot;
     Flywheel flywheel;
 
+    double shootStamp = 0.0;
+    boolean shootAll = false;
+
+    public double spinPow = 0.09;
+
+    public static boolean enableHoodAutoOpen = false;
+    public double hoodAdjust = 0.0;
+    public static double hoodAdjustFactor = 1.0;
+    Spindexer spindexer ;
+
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -40,6 +54,7 @@ public class ShooterTest extends LinearOpMode {
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
         flywheel = new Flywheel(hardwareMap);
+        spindexer = new Spindexer(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -55,21 +70,65 @@ public class ShooterTest extends LinearOpMode {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                flywheel.setPIDF(P,I,D,F);
+                flywheel.setPIDF(P, I, D, F);
                 flywheel.manageFlywheel((int) Velocity);
             }
 
             if (hoodPos != 0.501) {
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                } else {
                     robot.hood.setPosition(hoodPos);
                 }
+            }
+
+            if (intake) {
+                robot.intake.setPower(1);
+
+            } else {
+                robot.intake.setPower(0);
+            }
 
 
-            robot.transfer.setPower(transferPower);
             if (shoot) {
+                shootStamp = getRuntime();
+                shootAll = true;
+                shoot = false;
+                robot.transfer.setPower(transferPower);
+            }
+            if (shootAll) {
+
+                //intake = false;
+                //reject = false;
+
+                // TODO: Change starting position based on desired order to shoot green ball
+                //spindexPos = spindexer_intakePos1;
+
+                if (getRuntime() - shootStamp < 3.5) {
+
                     robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+
                 } else {
                     robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.transfer.setPower(0);
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
                 }
+            } else {
+                spindexer.processIntake();
+            }
+
             TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());

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

@@ -1,24 +1,20 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.Poses.goalPose;
-
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Vector2d;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Turret;
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
 @Autonomous
 @Config
 public class TurretTest extends LinearOpMode {
+    public static boolean zeroTurr = false;
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -27,39 +23,26 @@ public class TurretTest extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
 
-        AprilTagWebcam webcam = new AprilTagWebcam();
-        webcam.init(robot, TELE);
-
-        Turret turret = new Turret(robot, TELE, webcam);
+        Turret turret = new Turret(robot, TELE, robot.limelight);
         waitForStart();
 
-        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(10, 0,0));
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
 
         while(opModeIsActive()){
 
             drive.updatePoseEstimate();
-            Pose2d robotPose = drive.localizer.getPose();
+            turret.trackGoal(drive.localizer.getPose());
 
-            double dx = goalPose.position.x - robotPose.position.x;
-            double dy = goalPose.position.y - robotPose.position.y;
+            TELE.addData("tpos", turret.getTurrPos());
+            TELE.addData("Limelight tx", turret.getBearing());
+            TELE.addData("Limelight ty", turret.getTy());
+            TELE.addData("Limelight X", turret.getLimelightX());
+            TELE.addData("Limelight Y", turret.getLimelightY());
 
-            double heading = robotPose.heading.toDouble();
+            if(zeroTurr){
+                turret.zeroTurretEncoder();
+            }
 
-            // field vector -> robot frame... avoids double calculation
-            double relX =  dx * Math.cos(-heading) - dy * Math.sin(-heading);
-            double relY =  dx * Math.sin(-heading) + dy * Math.cos(-heading);
-
-            Pose2d deltaPos = new Pose2d(
-                    new Vector2d(relX, relY),
-                    robotPose.heading
-            );
-
-            
-            turret.trackGoal(deltaPos);
-            
-            TELE.addData("Robot Pose", robotPose);
-            TELE.addData("Goal Pose", goalPose);
-            TELE.addData("Delta Pos", deltaPos);
             TELE.update();
         }
 

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

@@ -9,8 +9,8 @@ public class Flywheel {
     Robot robot;
     public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
-    double velo1 = 0.0;
-    double velo2 = 0.0;
+    public double velo1 = 0.0;
+    public double velo2 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
@@ -38,10 +38,14 @@ public class Flywheel {
 
     // 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;
+        shooterPIDF1.p = p;
+        shooterPIDF1.i = i;
+        shooterPIDF1.d = d;
+        shooterPIDF1.f = f;
+        shooterPIDF2.p = p;
+        shooterPIDF2.i = i;
+        shooterPIDF2.d = d;
+        shooterPIDF2.f = f;
     }
 
     // Convert from RPM to Ticks per Second
@@ -54,10 +58,6 @@ public class Flywheel {
         targetVelocity = commandedVelocity;
 
         // Add code here to set PIDF based on desired RPM
-        //robot.shooterPIDF.p = P;
-        //robot.shooterPIDF.i = I;
-        //robot.shooterPIDF.d = D;
-        //robot.shooterPIDF.f = F;
 
         robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
         robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);

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

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

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

@@ -20,8 +20,8 @@ public class Robot {
 
     //Initialize Public Components
 
-    public static boolean usingLimelight = false;
-    public static boolean usingCamera = true;
+    public static boolean usingLimelight = true;
+    public static boolean usingCamera = false;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -29,10 +29,10 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
-    public double shooterPIDF_I = 0.6;
-    public double shooterPIDF_D = 5.0;
-    public double shooterPIDF_F = 10.0;
+    public double shooterPIDF_P = 255.0;
+    public double shooterPIDF_I = 0.0;
+    public double shooterPIDF_D = 0.0;
+    public double shooterPIDF_F = 7.5;
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
@@ -79,8 +79,10 @@ public class Robot {
         shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter1.setVelocity(0);
         shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setVelocity(0);
 
         hood = hardwareMap.get(Servo.class, "hood");
 

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

@@ -8,7 +8,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 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 spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
     public static double spin_scalar = 1.0086;
     public static double spin_restPos = 0.0;
@@ -40,7 +40,7 @@ public class Servos {
     }
 
     public boolean spinEqual(double pos) {
-        return Math.abs(pos - this.getSpinPos()) < 0.02;
+        return Math.abs(pos - this.getSpinPos()) < 0.03;
     }
 
     public double getTurrPos() {

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

@@ -16,9 +16,11 @@ import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Types;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
 public class Spindexer {
+
     Robot robot;
     Servos servos;
     Flywheel flywheel;
@@ -36,6 +38,7 @@ public class Spindexer {
     public double distanceFrontDriver = 0.0;
     public double distanceFrontPassenger = 0.0;
 
+    public Types.Motif desiredMotif = Types.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
         REARCENTER,
@@ -62,6 +65,8 @@ public class Spindexer {
         SHOOTNEXT,
         SHOOTMOVING,
         SHOOTWAIT,
+        SHOOT_ALL_PREP,
+        SHOOT_ALL_READY
     };
 
     public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
@@ -272,7 +277,6 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
                     stopSpindexer();
-                    detectBalls(true, true);
                     unknownColorDetect = 0;
                 } else {
                     // Keep moving the spindexer
@@ -283,7 +287,7 @@ public class Spindexer {
                 if (unknownColorDetect >5) {
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
-                    detectBalls(true, true);
+                    //detectBalls(true, true);
                     unknownColorDetect++;
                 }
                 break;
@@ -327,6 +331,7 @@ public class Spindexer {
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
+                    commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -337,7 +342,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(false, false);
+                    //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -355,6 +360,28 @@ public class Spindexer {
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
                 break;
 
+            case SHOOT_ALL_PREP:
+                // We get here with function call to prepareToShootMotif
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_READY;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                }
+                break;
+
+            case SHOOT_ALL_READY:
+                // Double Check Colors
+                //detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
+                    // All ball shot move to intake state
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                }
+                // Maintain Position
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
             case SHOOTNEXT:
                 // Find Next Open Position and start movement
                 if (!ballPositions[0].isEmpty) {
@@ -383,16 +410,6 @@ public class Spindexer {
                 // Stopping when we get to the new position
                 if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
-                    ballPositions[commandedIntakePosition].isEmpty = true;
-                    // Advance to next full position and wait
-//                    commandedIntakePosition++;
-//                    if (commandedIntakePosition > 2) {
-//                        commandedIntakePosition = 0;
-//                    }
-//                    // Continue moving to next position
-//                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-//                    currentIntakeState = Spindexer.IntakeState.MOVING;
-
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
@@ -404,7 +421,7 @@ public class Spindexer {
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.INTAKE;
                     stopSpindexer();
-                    detectBalls(true, false);
+                    //detectBalls(true, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -420,6 +437,55 @@ public class Spindexer {
         return false;
     }
 
+    public void setDesiredMotif (Types.Motif newMotif) {
+        desiredMotif = newMotif;
+    }
+
+    // Returns the best fit for the motiff
+    public int bestFitMotif () {
+        switch (desiredMotif) {
+            case GPP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 2;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 1;
+                }
+                //break;
+            case PGP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else {
+                    return 3;
+                }
+                //break;
+            case PPG:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 2;
+                }
+                //break;
+            case NONE:
+                return 0;
+                //break;
+        }
+        return 0;
+    }
+
+    void prepareToShootMotif () {
+        commandedIntakePosition = bestFitMotif();
+    }
+
+    void shootAllToIntake () {
+        currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+    }
+
     public void update()
     {
     }

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

@@ -9,8 +9,8 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Targeting {
     MultipleTelemetry TELE;
 
-    double cancelOffsetX = 7.071067811;
-    double cancelOffsetY = 7.071067811;
+    double cancelOffsetX = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
     double unitConversionFactor = 0.95;
 
     int tileSize = 24; //inches
@@ -37,33 +37,33 @@ public class Targeting {
     static {
         KNOWNTARGETING = new Settings[6][6];
         // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
-        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
-        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
-        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
-        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
+        KNOWNTARGETING[0][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][2] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[0][3] = new Settings (2800.0, 0.68);
+        KNOWNTARGETING[0][4] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings (3000.0, 0.58);
         // ROW 1
-        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
-        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
-        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
-        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
-        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
-        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
+        KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78);
+        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
         // ROW 2
-        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
-        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
-        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
-        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
+        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
+        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
         // ROW 3
-        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
-        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
-        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
-        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
-        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
+        KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][2] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][3] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
         // ROW 4
         KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
         KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
@@ -89,16 +89,16 @@ public class Targeting {
 
         double cos45 = Math.cos(Math.toRadians(-45));
         double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
-        double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
+        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
 
         // Convert robot coordinates to inches
         robotInchesX = rotatedX * unitConversionFactor;
         robotInchesY = rotatedY * unitConversionFactor;
 
         // Find approximate location in the grid
-        robotGridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
-        robotGridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
         //clamp
         robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
@@ -107,8 +107,8 @@ public class Targeting {
         // basic search
         if(!interpolate) {
             if ((robotGridY < 6) && (robotGridX <6)) {
-                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
             }
             return recommendedSettings;
         } else {

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

@@ -1,3 +1,4 @@
+
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
@@ -5,61 +6,140 @@ import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
-import com.qualcomm.robotcore.util.Range;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.hardware.DcMotor;
 
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+import java.util.List;
 
 @Config
 public class Turret {
-
+    public static double turretTolerance = 0.02;
+    public static double turrPosScalar = 0.00011264432;
+    public static double turret180Range = 0.4;
     public static double turrDefault = 0.4;
-    public static double turretRange = 0.6;
+    // TODO: tune these values for limelight
+// At the top with other static variables:
+    public static double kP = 0.015;  // Proportional gain - tune this first
+    public static double kI = 0.0005; // Integral gain - add slowly if needed
+    public static double kD = 0.002;  // Derivative gain - helps prevent overshoot
+
+    public static double kF = 0.002;  // Derivative gain - helps prevent overshoot
+
+    public static double maxOffset = 10; // degrees - safety limit
+
+    // Add these as instance variables:
+    private double lastTagBearing = 0.0;
+    private double offsetIntegral = 0.0;
+
+    public static double cameraBearingEqual = 1;
+
+
     public static double turrMin = 0.2;
     public static double turrMax = 0.8;
-
-    public static double turretTolerance = 0.02;
-
-    public static double cameraBearingEqual = 1.5;
-    public static double errorLearningRate = 0.02; // must be low
-    public static double maxOffsetDeg = 30.0;
-
-    private final Robot robot;
-    private final MultipleTelemetry TELE;
-    private final AprilTagWebcam webcam;
-
+    public static double mult = 0.0;
+    private boolean lockOffset = false;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Limelight3A webcam;
     private int obeliskID = 0;
-    private double offsetDeg = 0.0;
+    private double offset = 0.0;
 
-    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
-        this.robot = rob;
+    private PIDFController controller = new PIDFController(kP, kI, kD, kF);
+    double tx = 0.0;
+    double ty = 0.0;
+    double limelightPosX = 0.0;
+    double limelightPosY = 0.0;
+    public static double clampTolerance = 0.03;
+
+    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
+        this.robot = rob;
         this.webcam = cam;
+        webcam.start();
+        if (redAlliance){
+            webcam.pipelineSwitch(3);
+        } else {
+            webcam.pipelineSwitch(2);
+        }
     }
 
-    public double getTurretPos() {
-        return robot.turr1Pos.getVoltage() / 3.3;
+    public void zeroTurretEncoder() {
+        robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
     }
 
-    public void manualSetTurret(double pos) {
-        pos = Range.clip(pos, turrMin, turrMax);
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
+
+    }
+
+    public void manualSetTurret(double pos){
         robot.turr1.setPosition(pos);
-        robot.turr2.setPosition(1.0 - pos);
+        robot.turr2.setPosition(1-pos);
     }
 
-    public boolean turretAt(double pos) {
-        return Math.abs(pos - getTurretPos()) < turretTolerance;
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
-    public double getBearingDeg() {
-        AprilTagDetection tag =
-                redAlliance ? webcam.getTagById(24) : webcam.getTagById(20);
-        return (tag != null) ? tag.ftcPose.bearing : Double.NaN;
+    private void limelightRead(){ // only for tracking purposes, not general reads
+        if (redAlliance){
+            webcam.pipelineSwitch(3);
+        } else {
+            webcam.pipelineSwitch(2);
+        }
+
+        LLResult result = webcam.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                tx = result.getTx();
+                ty = result.getTy();
+                // MegaTag1 code for receiving position
+                Pose3D botpose = result.getBotpose();
+                if (botpose != null){
+                    limelightPosX = botpose.getPosition().x;
+                    limelightPosY = botpose.getPosition().y;
+                }
+
+            }
+        }
+    }
+
+    public double getBearing() {
+        tx = 1000;
+        limelightRead();
+        return tx;
+    }
+
+    public double getTy(){
+        limelightRead();
+        return ty;
+    }
+
+    public double getLimelightX(){
+        limelightRead();
+        return limelightPosX;
+    }
+
+    public double getLimelightY(){
+        limelightRead();
+        return limelightPosY;
     }
 
     public int detectObelisk() {
-        if (webcam.getTagById(21) != null) obeliskID = 21;
-        else if (webcam.getTagById(22) != null) obeliskID = 22;
-        else if (webcam.getTagById(23) != null) obeliskID = 23;
+        webcam.pipelineSwitch(1);
+        LLResult result = webcam.getLatestResult();
+        if (result != null && result.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                obeliskID = fiducial.getFiducialId();
+            }
+        }
         return obeliskID;
     }
 
@@ -67,34 +147,81 @@ public class Turret {
         return obeliskID;
     }
 
+    public void zeroOffset() {
+        offset = 0.0;
+    }
+
+    public void lockOffset(boolean lock) {
+        lockOffset = lock;
+    }
+
+    /*
+        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
+     */
     public void trackGoal(Pose2d deltaPos) {
 
-        double turretAngleDeg = Math.toDegrees(
+        controller.setPIDF(kP, kI, kD, kF);
+        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
+
+        // Angle from robot to goal in robot frame
+        double desiredTurretAngleDeg = Math.toDegrees(
                 Math.atan2(deltaPos.position.y, deltaPos.position.x)
         );
 
-        double bearingDeg = getBearingDeg();
+        // Robot heading (field → robot)
+        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
 
-        if (!Double.isNaN(bearingDeg) &&
-                Math.abs(bearingDeg) < cameraBearingEqual) {
+        // Turret angle needed relative to robot
+        double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
 
-            offsetDeg -= bearingDeg * errorLearningRate;
-            offsetDeg = Range.clip(offsetDeg, -maxOffsetDeg, maxOffsetDeg);
+        turretAngleDeg = -turretAngleDeg;
+
+        // Normalize to [-180, 180]
+        while (turretAngleDeg > 180) turretAngleDeg -= 360;
+        while (turretAngleDeg < -180) turretAngleDeg += 360;
+
+        /* ---------------- APRILTAG CORRECTION ---------------- */
+//
+        double tagBearingDeg = getBearing();  // + = target is to the left
+
+        turretAngleDeg += offset;
+
+        /* ---------------- ANGLE → SERVO ---------------- */
+
+        double turretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to servo range
+        double currentEncoderPos = this.getTurrPos();
+
+        if (!turretEqual(turretPos)) {
+            double diff = turretPos - currentEncoderPos;
+            turretPos = turretPos + diff * mult;
         }
 
-        turretAngleDeg += offsetDeg;
+        if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) {
+            // Clamp to servo range
+            turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
+        } else { // TODO: add so it only adds error when standstill
+            if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) {
+                // PID-based offset correction for faster, smoother tracking
 
-        double turretPos =
-                turrDefault + (turretAngleDeg / 180.0) * turretRange;
+                // Proportional: respond to current error
 
-        turretPos = Range.clip(turretPos, turrMin, turrMax);
+                 offset = -controller.calculate(tagBearingDeg);
+
+
+
+            }
+        }
 
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1.0 - turretPos);
 
-        TELE.addData("Turret Angle (deg)", turretAngleDeg);
-        TELE.addData("Offset (deg)", offsetDeg);
-        TELE.addData("Tag Bearing (deg)", bearingDeg);
-        TELE.addData("Turret Servo", turretPos);
+        /* ---------------- TELEMETRY ---------------- */
+
+        TELE.addData("Turret Angle", turretAngleDeg);
+        TELE.addData("Bearing", tagBearingDeg);
+        TELE.addData("Offset", offset);
     }
+
 }

build.gradle

@@ -25,5 +25,9 @@ allprojects {
 }
 
 repositories {
+    repositories {
         mavenCentral()
+        google()
+        maven { url 'https://maven.pedropathing.com' }
+    }
 }