Comment out color sensor reads for now to speed up loop times.

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

@@ -76,7 +76,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
@@ -93,7 +93,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
     MecanumDrive drive;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
     Servos servo;
     double velo = 0.0;
     boolean gpp = false;
@@ -109,10 +109,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
@@ -180,10 +178,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             @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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 spinPID = servo.setSpinPos(spindexer);
                 robot.spin1.setPower(spinPID);
@@ -224,10 +220,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 drive.updatePoseEstimate();
 
@@ -376,10 +370,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 }
                 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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -454,7 +446,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
         robot = new Robot(hardwareMap);
 
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
 
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()

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

@@ -7,9 +7,9 @@ public class ServoPositions {
 
     public static double spindexer_intakePos1 = 0.39;
 
-    public static double spindexer_intakePos2 = 0.5;
+    public static double spindexer_intakePos2 = 0.55;//0.5;
 
-    public static double spindexer_intakePos3 = 0.66;
+    public static double spindexer_intakePos3 = 0.71;//0.66;
 
     public static double spindexer_outtakeBall3 = 0.47;
 

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

@@ -129,7 +129,7 @@ public class TeleopV2 extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
         servo = new Servos(hardwareMap);
-        flywheel = new Flywheel();
+        flywheel = new Flywheel(hardwareMap);
 
         drive = new MecanumDrive(hardwareMap, teleStart);
 
@@ -282,12 +282,9 @@ public class TeleopV2 extends LinearOpMode {
 
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
+            double powPID = flywheel.manageFlywheel((int) vel);
 
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
-
-            robot.transfer.setPower(1);
+             robot.transfer.setPower(1);
 
             //TURRET:
 

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

@@ -29,9 +29,10 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -68,8 +69,9 @@ public class TeleopV3 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
     Servos servo;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
     MecanumDrive drive;
+    Spindexer spindexer;
     double autoHoodOffset = 0.0;
 
     int shooterTicker = 0;
@@ -94,7 +96,8 @@ public class TeleopV3 extends LinearOpMode {
     boolean shootA = true;
     boolean shootB = true;
     boolean shootC = true;
-    boolean autoSpintake = true;
+    boolean autoSpintake = false;
+    boolean enableSpindexerManager = true;
     List<Integer> shootOrder = new ArrayList<>();
     boolean outtake1 = false;
     boolean outtake2 = false;
@@ -140,8 +143,9 @@ public class TeleopV3 extends LinearOpMode {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
         drive = new MecanumDrive(hardwareMap, teleStart);
+        spindexer = new Spindexer(hardwareMap);
 
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
@@ -400,10 +404,7 @@ public class TeleopV3 extends LinearOpMode {
 
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
+            flywheel.manageFlywheel(vel);
 
             //VELOCITY AUTOMATIC
 
@@ -532,7 +533,7 @@ public class TeleopV3 extends LinearOpMode {
 //                }
 //            }
 
-            if (gamepad1.left_bumper) {
+            if (gamepad1.left_bumper && !enableSpindexerManager) {
 
                 robot.transferServo.setPosition(transferServo_out);
 
@@ -563,14 +564,14 @@ public class TeleopV3 extends LinearOpMode {
 
             }
 
-            if (gamepad1.leftBumperWasReleased()) {
+            if (gamepad1.leftBumperWasReleased() && !enableSpindexerManager) {
                 shootStamp = getRuntime();
                 shootAll = true;
 
                 shooterTicker = 0;
             }
 
-            if (shootAll) {
+            if (shootAll && !enableSpindexerManager) {
 
                 TELE.addData("100% works", shootOrder);
 
@@ -602,6 +603,63 @@ public class TeleopV3 extends LinearOpMode {
                 }
 
             }
+
+            if (enableSpindexerManager) {
+                if (!shootAll) {
+                    spindexer.processIntake();
+                }
+
+                // RIGHT_BUMPER
+                if (gamepad1.right_bumper) {
+                    robot.intake.setPower(1);
+
+                } else {
+                    robot.intake.setPower(0);
+                }
+
+                // LEFT_BUMPER
+                if (!shootAll &&
+                        (gamepad1.leftBumperWasReleased() ||
+                                gamepad1.leftBumperWasPressed() ||
+                                gamepad1.left_bumper)) {
+                    shootStamp = getRuntime();
+                    shootAll = true;
+
+                    shooterTicker = 0;
+                }
+
+                if (shootAll) {
+
+                    intake = false;
+                    reject = false;
+
+                    shooterTicker++;
+
+                    // 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);
+
+                        spindexer.resetSpindexer();
+                        spindexer.processIntake();
+                    }
+                }
+            }
+
+
 //
 //            if (shootAll) {
 //
@@ -768,7 +826,6 @@ public class TeleopV3 extends LinearOpMode {
 //                }
 
             //EXTRA STUFFINESS:
-
             drive.updatePoseEstimate();
 
             for (LynxModule hub : allHubs) {
@@ -784,15 +841,20 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("distanceToGoal", distanceToGoal);
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
-            TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
-
+            TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
             TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
+            TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
+            TELE.addData("spinIntakeState", spindexer.currentIntakeState);
+            TELE.addData("spinTestCounter", spindexer.counter);
             TELE.addData("autoSpintake", autoSpintake);
+            TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
+            TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
+            TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
+            TELE.addData("shootall commanded", shootAll);
             TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
-
             TELE.update();
 
             ticker++;

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

@@ -9,7 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
@@ -21,12 +21,17 @@ public class ShooterTest extends LinearOpMode {
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
+    public static double Velocity = 0.0;
+    public static double P = 40.0;
+    public static double I = 0.3;
+    public static double D = 7.0;
+    public static double F = 10.0;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
     Robot robot;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -34,7 +39,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -50,10 +55,8 @@ public class ShooterTest extends LinearOpMode {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                rightShooter.setPower(powPID);
-                leftShooter.setPower(powPID);
-                TELE.addData("PIDPower", powPID);
+                flywheel.setPIDF(P,I,D,F);
+                flywheel.manageFlywheel((int) Velocity);
             }
 
             if (hoodPos != 0.501) {
@@ -67,7 +70,7 @@ public class ShooterTest extends LinearOpMode {
             } else {
                 robot.transferServo.setPosition(transferServo_out);
             }
-            TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
+            TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());
             TELE.addData("Power", robot.shooter1.getPower());

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

@@ -2,6 +2,9 @@ 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;
 
@@ -17,72 +20,65 @@ public class Flywheel {
     double velo = 0.0;
     double velo1 = 0.0;
     double velo2 = 0.0;
-    double velo3 = 0.0;
-    double velo4 = 0.0;
-    double velo5 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
-    public Flywheel () {
-        //robot = new Robot(hardwareMap);
+    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;}
 
-    public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
+    // 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;
 
-        ticker++;
-        if (ticker % 2 == 0) {
-            velo5 = velo4;
-            velo4 = velo3;
-            velo3 = velo2;
-            velo2 = velo1;
+        // 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));
 
-            currentPos = shooter1CurPos / 2048;
-            stamp = getTimeSeconds(); //getRuntime();
-            velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
-            initPos = currentPos;
-            stamp1 = stamp;
-
-            velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
-        }
-        // Flywheel control code here
-        if (targetVelocity - velo > 500) {
-            powPID = 1.0;
-        } else if (velo - targetVelocity > 500){
-            powPID = 0.0;
-        } else {
-            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
-
-            // --- PROPORTIONAL CORRECTION ---
-            double error = targetVelocity - velo;
-            double correction = kP * error;
-
-            // limit how fast power changes (prevents oscillation)
-            correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-            // --- FINAL MOTOR POWER ---
-            powPID = feed + correction;
-
-            // clamp to allowed range
-            powPID = Math.max(0, Math.min(1, powPID));
-        }
+        // Record Current Velocity
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo = Math.max(velo1,velo2);
 
         // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 100.0);
+        steady = (Math.abs(targetVelocity - velo) < 200.0);
 
         return powPID;
     }
@@ -90,4 +86,4 @@ public class Flywheel {
     public void update()
     {
     }
-}
+}

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

@@ -8,6 +8,7 @@ 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;
@@ -23,6 +24,13 @@ public class Robot {
     public DcMotorEx backRight;
     public DcMotorEx intake;
     public DcMotorEx transfer;
+    public PIDFCoefficients shooterPIDF;
+    public double shooterPIDF_P = 10.0;
+    public double shooterPIDF_I = 0.6;
+    public double shooterPIDF_D = 5.0;
+    public double shooterPIDF_F = 10.0;
+
+    public double[] shooterPIDF_StepSizes = {10.0,1.0,0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
@@ -69,8 +77,11 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
         //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        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");
 

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) {
+                    // Position 2
+                    commandedIntakePosition = 1;
+                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else if (ballPositions[2].isEmpty) {
+                    // Position 3
+                    commandedIntakePosition = 2;
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else {
+                    // Empty return to intake state
+                    currentIntakeState = IntakeState.FINDNEXT;
+                }
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                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]);
+                }
+                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()
+    {
+    }
+}