moved teleop LL stuff to LLManager - 3 instances were being created lol

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

@@ -0,0 +1,606 @@
+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.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.LimelightManager;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoClose_V3 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
+    LimelightManager limelightManager;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.1;
+
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
+    double powPID = 0.0;
+    double bearing = 0.0;
+
+    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() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                limelightManager.update();
+                int id = limelightManager.detectFiducial();
+
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
+
+                TELE.addData("Fiducial ID", id);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redClose : turret_blueClose;
+                    double turretPID = servo.setTurrPos(turretTarget);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turretTarget);
+                }
+                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.setPower(holdTurrPow);
+                    robot.turr2.setPower(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));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
+
+        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 = servo.setTurrPos(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 = servo.setTurrPos(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.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("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() {
+        limelightManager.update();
+        bearing = limelightManager.getBearing();
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        
+        // Define sequences based on obelisk configuration
+        double[][] sequences = {
+            {1, 2, 3}, {1, 3, 2}, {2, 1, 3}, {2, 3, 1}, {3, 1, 2}, {3, 2, 1}
+        };
+
+        double[] sequence = null;
+        
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[0];      // 1,2,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[2]; // 2,1,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[4]; // 3,1,2
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[0];
+                else if (b2 == 2) sequence = sequences[2];
+                else if (b3 == 2) sequence = sequences[4];
+            } else sequence = sequences[0];
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[2];      // 2,1,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[0]; // 1,2,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[3]; // 2,3,1
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[2];
+                else if (b2 == 2) sequence = sequences[0];
+                else if (b3 == 2) sequence = sequences[3];
+            } else sequence = sequences[2];
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[4];      // 3,1,2
+                else if (b2 == 2 && b1 == b3) sequence = sequences[5]; // 3,2,1
+                else if (b3 == 2 && b1 == b2) sequence = sequences[0]; // 1,2,3
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[4];
+                else if (b2 == 2) sequence = sequences[5];
+                else if (b3 == 2) sequence = sequences[0];
+            } else sequence = sequences[4];
+        } else sequence = sequences[0];
+
+        executeShootingSequence(sequence);
+        TELE.update();
+    }
+
+    private void executeShootingSequence(double[] sequence) {
+        double[] ballPositions = {
+            spindexer_outtakeBall1,
+            spindexer_outtakeBall2,
+            spindexer_outtakeBall3
+        };
+
+        for (double ball : sequence) {
+            Actions.runBlocking(
+                    new SequentialAction(
+                            spindex(ballPositions[(int) ball - 1], AUTO_CLOSE_VEL),
+                            Shoot(AUTO_CLOSE_VEL)
+                    )
+            );
+        }
+    }
+}

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

@@ -0,0 +1,619 @@
+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.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.LimelightManager;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoFar_V1 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
+    LimelightManager limelightManager;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.1;
+
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
+    double powPID = 0.0;
+    double bearing = 0.0;
+
+    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() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                limelightManager.update();
+                int id = limelightManager.detectFiducial();
+
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
+
+                TELE.addData("Fiducial ID", id);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
+                    double turretPID = servo.setTurrPos(turretTarget);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turretTarget);
+                }
+                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.setPower(holdTurrPow);
+                    robot.turr2.setPower(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));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
+
+        //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 = servo.setTurrPos(turret_detectRedClose);
+            } else {
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
+            }
+
+            robot.turr1.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAutoFar);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("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() {
+        limelightManager.update();
+        bearing = limelightManager.getBearing();
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_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/Blue_V2.java

@@ -1,9 +1,11 @@
 package org.firstinspires.ftc.teamcode.autonomous;
 
 import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
 import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
 
 import androidx.annotation.NonNull;
 
@@ -11,23 +13,24 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
 import com.acmerobotics.roadrunner.ParallelAction;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
-@Autonomous
+@Autonomous(preselectTeleOp = "TeleopV2")
 public class Blue_V2 extends LinearOpMode {
 
     Robot robot;
@@ -38,9 +41,13 @@ public class Blue_V2 extends LinearOpMode {
 
     AprilTagWebcam aprilTag;
 
-    public static double intake1Time = 4.0;
+    Flywheel flywheel;
 
-    public static double intake2Time = 5.5;
+    double velo = 0.0;
+    double targetVelocity = 0.0;
+    public static double intake1Time = 2.9;
+
+    public static double intake2Time = 2.9;
 
     public static double colorDetect = 3.0;
 
@@ -59,6 +66,7 @@ public class Blue_V2 extends LinearOpMode {
     int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
 
     boolean spindexPosEqual(double spindexer) {
+        TELE.addData("Velocity", velo);
         TELE.addLine("spindex equal");
         TELE.update();
         return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
@@ -67,7 +75,6 @@ public class Blue_V2 extends LinearOpMode {
 
     public Action initShooter(int vel) {
         return new Action() {
-            double velo = 0.0;
             double initPos = 0.0;
             double stamp = 0.0;
             double stamp1 = 0.0;
@@ -80,34 +87,15 @@ public class Blue_V2 extends LinearOpMode {
                     stamp2 = getRuntime();
                 }
 
+                targetVelocity = (double) vel;
                 ticker++;
                 if (ticker % 16 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
                     stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
                     stamp1 = stamp;
                 }
 
-                if (vel - velo > 500) {
-                    powPID = 1.0;
-                } else {
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
                 robot.transfer.setPower(1);
@@ -119,6 +107,7 @@ public class Blue_V2 extends LinearOpMode {
                     stamp2 = getRuntime();
                     return true;
                 } else if (steady && getRuntime() - stamp2 > 1.5){
+                    TELE.addData("Velocity", velo);
                     TELE.addLine("finished init");
                     TELE.update();
                     return false;
@@ -131,49 +120,12 @@ public class Blue_V2 extends LinearOpMode {
 
     public Action steadyShooter(int vel, boolean last) {
         return new Action() {
-            double velo = 0.0;
-            double initPos = 0.0;
             double stamp = 0.0;
-            double stamp1 = 0.0;
-            double ticker = 0.0;
-            double stamp2 = 0.0;
-            double currentPos = 0.0;
             boolean steady = false;
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp2 = getRuntime();
-                }
-
-                ticker++;
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500){
-                    powPID = 0.0;
-                } else {
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                steady = flywheel.getSteady();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
                 robot.transfer.setPower(1);
@@ -181,11 +133,14 @@ public class Blue_V2 extends LinearOpMode {
                 TELE.addData("Velocity", velo);
                 TELE.update();
 
-                if (Math.abs(vel - velo) < 100 && last && !steady){
+
+                if (last && !steady){
                     stamp = getRuntime();
-                    steady = true;
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
                     return false;
-                } else if (steady && getRuntime() - stamp > 1.0) {
+                } else if (steady) {
                     stamp = getRuntime();
                     return true;
                 } else {
@@ -216,14 +171,15 @@ public class Blue_V2 extends LinearOpMode {
                 }
                 aprilTag.update();
 
+                TELE.addData("Velocity", velo);
                 TELE.addData("21", gpp);
                 TELE.addData("22", pgp);
                 TELE.addData("23", ppg);
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    robot.turr1.setPosition(turret_blue);
-                    robot.turr2.setPosition(1 - turret_blue);
+                    robot.turr1.setPower(turret_blueClose);
+                    robot.turr2.setPower(1 - turret_blueClose);
                     return false;
                 } else {
                     return true;
@@ -232,11 +188,43 @@ public class Blue_V2 extends LinearOpMode {
         };
     }
 
+    public Action intakeReject() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                double position = 0.0;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (getRuntime() - stamp < 0.3){
+                    return true;
+                }else {
+                    robot.intake.setPower(0);
+                    return false;
+                }
+            }
+        };
+    }
+
     public Action spindex (double spindexer, double vel){
         return new Action() {
             double currentPos = 0.0;
             double stamp = 0.0;
-            double velo = 0.0;
             double initPos = 0.0;
             double stamp1 = 0.0;
             int ticker = 0;
@@ -272,12 +260,20 @@ public class Blue_V2 extends LinearOpMode {
                     powPID = Math.max(0, Math.min(1, powPID));
                 }
 
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
-                robot.spin1.setPosition(spindexer);
-                robot.spin2.setPosition(1-spindexer);
+                robot.spin1.setPower(spindexer);
+                robot.spin2.setPower(1-spindexer);
+                TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
                 return !spindexPosEqual(spindexer);
             }
         };
@@ -290,13 +286,14 @@ public class Blue_V2 extends LinearOpMode {
             boolean transferIn = false;
             double currentPos = 0.0;
             double stamp = 0.0;
-            double velo = 0.0;
             double initPos = 0.0;
             double stamp1 = 0.0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
                 TELE.addLine("shooting");
                 TELE.update();
+
                 if (ticker % 8 == 0) {
                     currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
                     stamp = getRuntime();
@@ -326,9 +323,15 @@ public class Blue_V2 extends LinearOpMode {
                     powPID = Math.max(0, Math.min(1, powPID));
                 }
 
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
 
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
 
                 if (ticker == 1) {
                     transferStamp = getRuntime();
@@ -336,12 +339,14 @@ public class Blue_V2 extends LinearOpMode {
                 }
                 if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
                     robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
                     TELE.addData("ticker", ticker);
                     TELE.update();
                     transferIn = true;
                     return true;
                 } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
                     robot.transferServo.setPosition(transferServo_out);
+                    TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
                     return false;
@@ -375,15 +380,19 @@ public class Blue_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
 
+                TELE.addData("Velocity", velo);
                 TELE.addLine("Intaking");
                 TELE.update();
 
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
                 robot.intake.setPower(1);
                 if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
-                    robot.intake.setPower(0);
                     return false;
                 } else {
                     return true;
@@ -409,13 +418,17 @@ public class Blue_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
                 if (s1D < 40) {
 
                     double green = robot.color1.getNormalizedColors().green;
@@ -463,6 +476,7 @@ public class Blue_V2 extends LinearOpMode {
                     }
                 }
 
+                TELE.addData("Velocity", velo);
                 TELE.addLine("Detecting");
                 TELE.addData("Distance 1", s1D);
                 TELE.addData("Distance 2", s2D);
@@ -482,6 +496,8 @@ public class Blue_V2 extends LinearOpMode {
 
         robot = new Robot(hardwareMap);
 
+        flywheel = new Flywheel();
+
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
@@ -495,7 +511,7 @@ public class Blue_V2 extends LinearOpMode {
         TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
-        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, by1, bh1))
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                 .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
                 .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
 
@@ -516,25 +532,25 @@ public class Blue_V2 extends LinearOpMode {
         while (opModeInInit()) {
 
             if (gamepad2.dpadUpWasPressed()) {
-                hoodDefault -= 0.01;
+                hoodAuto-= 0.01;
             }
 
             if (gamepad2.dpadDownWasPressed()) {
-                hoodDefault += 0.01;
+                hoodAuto += 0.01;
             }
 
-            robot.hood.setPosition(hoodDefault);
+            robot.hood.setPosition(hoodAuto);
 
-            robot.turr1.setPosition(turret_detectBlue);
-            robot.turr2.setPosition(1 - turret_detectBlue);
+            robot.turr1.setPower(turret_detectBlueClose);
+            robot.turr2.setPower(1 - turret_detectBlueClose);
 
             robot.transferServo.setPosition(transferServo_out);
 
-            robot.spin1.setPosition(spindexer_intakePos1);
-            robot.spin2.setPosition(1 - spindexer_intakePos1);
+            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin2.setPower(1 - spindexer_intakePos1);
 
             aprilTag.update();
-
+            TELE.addData("Velocity", velo);
             TELE.update();
         }
 
@@ -544,7 +560,7 @@ public class Blue_V2 extends LinearOpMode {
 
         if (opModeIsActive()) {
 
-            robot.hood.setPosition(hoodStart);
+            robot.hood.setPosition(hoodAuto);
 
             Actions.runBlocking(
                     new ParallelAction(
@@ -553,13 +569,22 @@ public class Blue_V2 extends LinearOpMode {
                             Obelisk()
                     )
             );
+            drive.updatePoseEstimate();
 
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
 
             shootingSequence();
 
-            robot.hood.setPosition(hoodDefault);
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
@@ -567,19 +592,32 @@ public class Blue_V2 extends LinearOpMode {
                             intake(intake1Time)
                     )
             );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
                             shoot1.build(),
                             ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
                     )
             );
 
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
 
             shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
@@ -587,15 +625,21 @@ public class Blue_V2 extends LinearOpMode {
                             intake(intake2Time)
                     )
             );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
                             shoot2.build(),
                             ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
                     )
             );
 
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
 
@@ -605,8 +649,8 @@ public class Blue_V2 extends LinearOpMode {
 
             teleStart = drive.localizer.getPose();
 
+            TELE.addData("Velocity", velo);
             TELE.addLine("finished");
-
             TELE.update();
 
             sleep(2000);
@@ -616,6 +660,7 @@ public class Blue_V2 extends LinearOpMode {
     }
 
     public void shootingSequence() {
+        TELE.addData("Velocity", velo);
         if (gpp) {
             if (b1 + b2 + b3 == 4) {
                 if (b1 == 2 && b2 - b3 == 0) {

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

@@ -3,7 +3,6 @@ package org.firstinspires.ftc.teamcode.autonomous;
 import static org.firstinspires.ftc.teamcode.constants.Poses.*;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
 import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
 
 import androidx.annotation.NonNull;
 
@@ -26,9 +25,11 @@ import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
 @Config
-@Autonomous
+@Autonomous(preselectTeleOp = "TeleopV2")
 public class Red_V2 extends LinearOpMode {
 
     Robot robot;
@@ -41,11 +42,12 @@ public class Red_V2 extends LinearOpMode {
 
     Flywheel flywheel;
 
-    double velo = 0.0;
-    double targetVelocity = 0.0;
-    public static double intake1Time = 6.5;
+    Servos servo;
 
-    public static double intake2Time = 6.5;
+    double velo = 0.0;
+    public static double intake1Time = 2.9;
+
+    public static double intake2Time = 2.9;
 
     public static double colorDetect = 3.0;
 
@@ -57,42 +59,33 @@ public class Red_V2 extends LinearOpMode {
 
     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
 
-    boolean spindexPosEqual(double spindexer) {
-        TELE.addData("Velocity", velo);
-        TELE.addLine("spindex equal");
-        TELE.update();
-        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
-                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
-    }
-
     public Action initShooter(int vel) {
         return new Action() {
-            double initPos = 0.0;
             double stamp = 0.0;
             double stamp1 = 0.0;
             double ticker = 0.0;
             double stamp2 = 0.0;
-            double currentPos = 0.0;
             boolean steady = false;
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 if (ticker == 0) {
                     stamp2 = getRuntime();
                 }
 
-                targetVelocity = (double) vel;
                 ticker++;
                 if (ticker % 16 == 0) {
                     stamp = getRuntime();
                     stamp1 = stamp;
                 }
 
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
                 velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
@@ -121,7 +114,7 @@ public class Red_V2 extends LinearOpMode {
             double stamp = 0.0;
             boolean steady = false;
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
                 velo = flywheel.getVelo();
                 steady = flywheel.getSteady();
                 robot.shooter1.setPower(powPID);
@@ -130,9 +123,13 @@ public class Red_V2 extends LinearOpMode {
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
+                detectTag();
 
                 if (last && !steady){
                     stamp = getRuntime();
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
                     return false;
                 } else if (steady) {
                     stamp = getRuntime();
@@ -172,9 +169,10 @@ public class Red_V2 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    robot.turr1.setPosition(turret_red);
-                    robot.turr2.setPosition(1 - turret_red);
-                    return false;
+                    double turretPID = servo.setTurrPos(turret_redClose);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turret_redClose);
                 } else {
                     return true;
                 }
@@ -182,108 +180,50 @@ public class Red_V2 extends LinearOpMode {
         };
     }
 
-    public Action spindex (double spindexer, double vel){
+    public Action spindex (double spindexer, int vel){
         return new Action() {
-            double currentPos = 0.0;
-            double stamp = 0.0;
-            double initPos = 0.0;
-            double stamp1 = 0.0;
-            int ticker = 0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                ticker++;
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
 
-                if (vel - velo > 500 && ticker > 16) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500 && ticker > 16){
-                    powPID = 0.0;
-                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
                 velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
-                robot.spin1.setPosition(spindexer);
-                robot.spin2.setPosition(1-spindexer);
+                robot.spin1.setPower(spindexer);
+                robot.spin2.setPower(1-spindexer);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
-                return !spindexPosEqual(spindexer);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                return !servo.spinEqual(spindexer);
             }
         };
     }
 
-    public Action Shoot(double vel) {
+    public Action Shoot(int vel) {
         return new Action() {
             double transferStamp = 0.0;
             int ticker = 1;
             boolean transferIn = false;
-            double currentPos = 0.0;
-            double stamp = 0.0;
-            double initPos = 0.0;
-            double stamp1 = 0.0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                 TELE.addData("Velocity", velo);
                 TELE.addLine("shooting");
                 TELE.update();
 
-                if (ticker % 8 == 0) {
-                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
-                    stamp = getRuntime();
-                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
-                    initPos = currentPos;
-                    stamp1 = stamp;
-                }
-
-                if (vel - velo > 500 && ticker > 16) {
-                    powPID = 1.0;
-                } else if (velo - vel > 500 && ticker > 16){
-                    powPID = 0.0;
-                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
-                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-
-                    // --- PROPORTIONAL CORRECTION ---
-                    double error = vel - velo;
-                    double correction = kP * error;
-
-                    // limit how fast power changes (prevents oscillation)
-                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                    // --- FINAL MOTOR POWER ---
-                    powPID = feed + correction;
-
-                    // clamp to allowed range
-                    powPID = Math.max(0, Math.min(1, powPID));
-                }
-
-                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
                 velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
 
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
 
                 if (ticker == 1) {
                     transferStamp = getRuntime();
@@ -332,16 +272,19 @@ public class Red_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
 
                 TELE.addData("Velocity", velo);
                 TELE.addLine("Intaking");
                 TELE.update();
 
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
                 robot.intake.setPower(1);
                 if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
-                    robot.intake.setPower(0);
                     return false;
                 } else {
                     return true;
@@ -350,6 +293,27 @@ public class Red_V2 extends LinearOpMode {
         };
     }
 
+    public Action intakeReject() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (getRuntime() - stamp < 0.3){
+                    return true;
+                }else {
+                    robot.intake.setPower(0);
+                    return false;
+                }
+            }
+        };
+    }
+
     public Action ColorDetect() {
         return new Action() {
             double stamp = 0.0;
@@ -367,13 +331,17 @@ public class Red_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
                 double s3D = robot.color3.getDistance(DistanceUnit.MM);
 
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
                 if (s1D < 40) {
 
                     double green = robot.color1.getNormalizedColors().green;
@@ -477,35 +445,34 @@ public class Red_V2 extends LinearOpMode {
         while (opModeInInit()) {
 
             if (gamepad2.dpadUpWasPressed()) {
-                hoodDefault -= 0.01;
+                hoodAuto-= 0.01;
             }
 
             if (gamepad2.dpadDownWasPressed()) {
-                hoodDefault += 0.01;
+                hoodAuto += 0.01;
             }
 
-            robot.hood.setPosition(hoodDefault);
-
-            robot.turr1.setPosition(turret_detectRed);
-            robot.turr2.setPosition(1 - turret_detectRed);
+            robot.hood.setPosition(hoodAuto);
 
             robot.transferServo.setPosition(transferServo_out);
 
-            robot.spin1.setPosition(spindexer_intakePos1);
-            robot.spin2.setPosition(1 - spindexer_intakePos1);
+            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin2.setPower(1 - spindexer_intakePos1);
 
             aprilTag.update();
             TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
             TELE.update();
         }
 
+
         waitForStart();
 
         if (isStopRequested()) return;
 
         if (opModeIsActive()) {
 
-            robot.hood.setPosition(hoodStart);
+            robot.hood.setPosition(hoodAuto);
 
             Actions.runBlocking(
                     new ParallelAction(
@@ -514,15 +481,22 @@ public class Red_V2 extends LinearOpMode {
                             Obelisk()
                     )
             );
+            drive.updatePoseEstimate();
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
             velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
 
             shootingSequence();
 
-            robot.hood.setPosition(hoodDefault);
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
@@ -530,21 +504,32 @@ public class Red_V2 extends LinearOpMode {
                             intake(intake1Time)
                     )
             );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
                             shoot1.build(),
                             ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
                     )
             );
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
             velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
 
             shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
@@ -552,16 +537,21 @@ public class Red_V2 extends LinearOpMode {
                             intake(intake2Time)
                     )
             );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
 
             Actions.runBlocking(
                     new ParallelAction(
                             shoot2.build(),
                             ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true)
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+
                     )
             );
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
             velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
@@ -582,6 +572,25 @@ public class Red_V2 extends LinearOpMode {
 
     }
 
+    public void detectTag(){
+        AprilTagDetection d20 = aprilTag.getTagById(20);
+        AprilTagDetection d24 = aprilTag.getTagById(24);
+
+        if (d20 != null) {
+            bearing = d20.ftcPose.bearing;
+            TELE.addData("Bear", bearing);
+        }
+
+        if (d24 != null) {
+            bearing = d24.ftcPose.bearing;
+            TELE.addData("Bear", bearing);
+        }
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
     public void shootingSequence() {
         TELE.addData("Velocity", velo);
         if (gpp) {

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

@@ -1,4 +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

@@ -12,40 +12,22 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static double x1 = 50, y1 = 0, h1 = 0;
-
-    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
-
-    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
-
-    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
-
-    public static double tx = 0, ty = 0, th = 0;
-
     public static Pose2d goalPose = new Pose2d(-15, 0, 0);
 
-
-
-    public static double rx1 = 50, ry1 = -4, rh1 = 0;
-
+    public static double rx1 = 45, ry1 = -7, rh1 = 0;
     public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
-
     public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
-
     public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
-
     public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
 
-    public static double bx1 = 50, by1 = 4, bh1 = 0;
-
-    public static double bx2a = 45, by2a = -5, bh2a = Math.toRadians(-140);
-
-    public static double bx2b = 31, by2b = -32, bh2b = Math.toRadians(-140);
-
-    public static double bx3a = 58, by3a = -42, bh3a = Math.toRadians(-140);
-
+    public static double bx1 = 45, by1 = 6, bh1 = 0;
+    public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
+    public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
+    public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
     public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
 
-    public static Pose2d teleStart = new Pose2d(rx1, 10, 0);
+    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

@@ -1,44 +1,45 @@
 package org.firstinspires.ftc.teamcode.constants;
 
-
 import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.665;
+    public static double spindexer_intakePos1 = 0.34;
 
-    public static double spindexer_intakePos3 = 0.29;
+    public static double spindexer_intakePos2 = 0.5;
 
-    public static double spindexer_intakePos2 = 0.99;
+    public static double spindexer_intakePos3 = 0.66;
 
-    public static double spindexer_outtakeBall3 = 0.845;
+    public static double spindexer_outtakeBall3 = 0.42;
 
-    public static double spindexer_outtakeBall2 = 0.48;
-    public static double spindexer_outtakeBall1 = 0.1;
+    public static double spindexer_outtakeBall2 = 0.74;
+    public static double spindexer_outtakeBall1 = 0.58;
 
     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 hoodStart = 0.6;
+    public static double hoodAuto = 0.55;
 
-    public static double hoodHigh = 0.21;
+    public static double hoodAutoFar = 0.5; //TODO: change this;
 
-    public static double hoodLow = 1.0;
+    public static double hoodHigh = 0.21; //TODO: change this;
 
-    public static double turret_red = 0.4;
-    public static double turret_blue = 0.4;
+    public static double hoodLow = 1.0; //TODO: change this;
 
-    public static double turret_detectRed = 0.2;
+    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_detectBlue = 0.6;
+    public static double turret_detectRedClose = 0.2;
 
+    public static double turret_detectBlueClose = 0.6;
+    public static double turrDefault = 0.40;
 
 }

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

@@ -19,5 +19,6 @@ public class ShooterVars {
     public static double maxStep = 0.06;         // prevents sudden jumps
 
     // VELOCITY CONSTANTS
-    public static int AUTO_CLOSE_VEL = 3050; //3300;
+    public static int AUTO_CLOSE_VEL = 3025; //3300;
+    public static int AUTO_FAR_VEL = 4000; //TODO: test this
 }

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

@@ -73,13 +73,13 @@ public final class MecanumDrive {
         public double kA = 0.000046;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 120;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 120;
+        public double maxWheelVel = 180;
+        public double minProfileAccel = -40;
+        public double maxProfileAccel = 180;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = 2* Math.PI; // shared with path
-        public double maxAngAccel = 2* Math.PI;
+        public double maxAngVel = 4* Math.PI; // shared with path
+        public double maxAngAccel = 4* Math.PI;
 
         // path controller gains
         public double axialGain = 4;
@@ -185,19 +185,19 @@ public final class MecanumDrive {
                     new DualNum<Time>(new double[]{
                             (leftFrontPosVel.position - lastLeftFrontPos),
                             leftFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
+                            }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (leftBackPosVel.position - lastLeftBackPos),
                             leftBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
+                            }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (rightBackPosVel.position - lastRightBackPos),
                             rightBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
+                            }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (rightFrontPosVel.position - lastRightFrontPos),
                             rightFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick)
+                            }).times(PARAMS.inPerTick)
             ));
 
             lastLeftFrontPos = leftFrontPosVel.position;
@@ -454,14 +454,14 @@ public final class MecanumDrive {
     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;
     }
 

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

@@ -1,55 +1,53 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
-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.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.ShooterVars.waitTransfer;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
-import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
-import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
-import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
-
-
+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.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
 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.Robot;
 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;
@@ -58,6 +56,7 @@ public class TeleopV2 extends LinearOpMode {
     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<>();
@@ -67,12 +66,8 @@ public class TeleopV2 extends LinearOpMode {
     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;
@@ -82,11 +77,13 @@ public class TeleopV2 extends LinearOpMode {
     boolean shootC = true;
     boolean manualTurret = false;
 
-    public boolean green1 = false;
-    public boolean green2 = false;
-    public boolean green3 = 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;
@@ -95,11 +92,28 @@ public class TeleopV2 extends LinearOpMode {
     private double transferStamp = 0.0;
     private int tickerA = 1;
     private boolean transferIn = false;
-    public double shootStamp = 0.0;
-    public boolean circle = false;
-    public boolean square = false;
-    public boolean triangle = 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 {
@@ -114,6 +128,8 @@ public class TeleopV2 extends LinearOpMode {
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
+        servo = new Servos(hardwareMap);
+        flywheel = new Flywheel();
 
         drive = new MecanumDrive(hardwareMap, teleStart);
 
@@ -121,37 +137,41 @@ public class TeleopV2 extends LinearOpMode {
 
         aprilTagWebcam.init(new Robot(hardwareMap), TELE);
 
-        robot.turr1.setPosition(0.4);
-        robot.turr2.setPosition(1-0.4);
-
-
-
-
         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 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;
 
-                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);
+            robot.frontLeft.setPower(frontLeftPower);
+            robot.backLeft.setPower(backLeftPower);
+            robot.frontRight.setPower(frontRightPower);
+            robot.backRight.setPower(backRightPower);
 
+            // PID SERVOS
+            turretPID = servo.setTurrPos(turretPos);
+            robot.turr1.setPower(turretPID);
+            robot.turr2.setPower(-turretPID);
 
+            //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:
 
@@ -159,13 +179,14 @@ public class TeleopV2 extends LinearOpMode {
                 intake = !intake;
                 reject = false;
                 shootAll = false;
+                emergency = false;
+                overrideTurr = false;
 
             }
 
             if (gamepad1.leftBumperWasPressed()) {
                 intake = false;
-                reject = true;
-                shootAll = false;
+                emergency = !emergency;
 
             }
 
@@ -175,22 +196,15 @@ public class TeleopV2 extends LinearOpMode {
 
                 robot.intake.setPower(1);
 
-                double position;
-
                 if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.015;
+                    spindexPos = spindexer_intakePos1 + 0.015;
                 } else {
-                    position = spindexer_intakePos1 - 0.015;
+                    spindexPos = spindexer_intakePos1 - 0.015;
                 }
 
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
-
             } else if (reject) {
                 robot.intake.setPower(-1);
-                double position = spindexer_intakePos1;
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
+                spindexPos = spindexer_intakePos1;
             } else {
                 robot.intake.setPower(0);
             }
@@ -259,7 +273,6 @@ public class TeleopV2 extends LinearOpMode {
                 s3T.add(getRuntime());
             }
 
-
             if (!s1.isEmpty()) {
                 green1 = checkGreen(s1, s1T);
             }
@@ -271,62 +284,24 @@ public class TeleopV2 extends LinearOpMode {
                 green3 = checkGreen(s3, s3T);
             }
 
-
             //SHOOTER:
 
-            double penguin = 0;
-
-            if (ticker % 8 == 0) {
-                penguin = (double) robot.shooterEncoder.getCurrentPosition() / 2048;
-                double stamp = getRuntime();
-                velo1 = -60 * ((penguin - initPos) / (stamp - stamp1));
-                initPos = penguin;
-                stamp1 = stamp;
-            }
-
-            velo = velo1;
-
-            double feed = vel / 4500;
-
-            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 ---
-            double 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;
-            }
-
-            TELE.addData("PIDPower", powPID);
-
-            TELE.addData("vel", velo1);
+            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
 
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
 
             robot.transfer.setPower(1);
 
-
             //TURRET:
 
             double offset;
 
-            double robotX = drive.localizer.getPose().position.x - xOffset;
-            double robotY = drive.localizer.getPose().position.y - xOffset;
+            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;
@@ -347,7 +322,8 @@ public class TeleopV2 extends LinearOpMode {
                 offset -= 360;
             }
 
-            double pos = 0.4;
+            //TODO: test the camera teleop code
+            double pos = turrDefault + (error/8); // adds the overall error to the default
 
             TELE.addData("offset", offset);
 
@@ -359,12 +335,52 @@ public class TeleopV2 extends LinearOpMode {
                 pos = 0.97;
             }
 
-            if (manualTurret){
-                pos = 0.4 + (manualOffset/100);
+            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;
+
             }
 
-            robot.turr1.setPosition(pos);
-            robot.turr2.setPosition(1 - pos);
+            if (manualTurret) {
+                pos = turrDefault + (manualOffset / 100);
+            }
+
+            if (!overrideTurr) {
+                turretPos = pos;
+            }
 
             if (gamepad2.dpad_right) {
                 manualOffset -= 2;
@@ -372,8 +388,6 @@ public class TeleopV2 extends LinearOpMode {
                 manualOffset += 2;
             }
 
-        
-
             //VELOCITY AUTOMATIC
 
             if (autoVel) {
@@ -390,12 +404,10 @@ public class TeleopV2 extends LinearOpMode {
             } else if (gamepad2.right_stick_y > 0.5) {
                 autoVel = false;
                 manualVel = 2700;
-            }
-            else if (gamepad2.right_stick_x > 0.5) {
+            } else if (gamepad2.right_stick_x > 0.5) {
                 autoVel = false;
                 manualVel = 3600;
-            }
-            else if (gamepad2.right_stick_x < -0.5) {
+            } else if (gamepad2.right_stick_x < -0.5) {
                 autoVel = false;
                 manualVel = 3100;
             }
@@ -403,97 +415,105 @@ public class TeleopV2 extends LinearOpMode {
             //HOOD:
 
             if (autoHood) {
-                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal));
+                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){
+            if (gamepad2.left_stick_x > 0.5) {
                 manualTurret = false;
-            } else if (gamepad2.left_stick_x<-0.5){
-                manualTurret = true;
+            } else if (gamepad2.left_stick_x < -0.5) {
                 manualOffset = 0;
-                if (gamepad2.left_bumper){
-                    xOffset = robotX;
-                    yOffset = robotY;
-                    headingOffset = robotHeading;
+                manualTurret = false;
+                if (gamepad2.left_bumper) {
+                    drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
+                    sleep(1200);
                 }
             }
 
-            if (gamepad2.left_stick_y<-0.5){
+            if (gamepad2.left_stick_y < -0.5) {
                 autoHood = true;
-            } else if (gamepad2.left_stick_y>0.5){
+            } else if (gamepad2.left_stick_y > 0.5) {
                 autoHood = false;
                 hoodOffset = 0;
-                if (gamepad2.left_bumper){
+                if (gamepad2.left_bumper) {
                     xOffset = robotX;
                     yOffset = robotY;
                     headingOffset = robotHeading;
                 }
             }
 
-            //SHOOT ALL:
+            //SHOOT ALL:]
 
+            if (emergency) {
+                intake = false;
+                reject = true;
 
-            if (shootAll) {
-
-                TELE.addData("100% works",shootOrder);
-                TELE.update();
-
+                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 < 10)) {
+                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
                     int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
                     boolean shootingDone = false;
 
-                    AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
-                    AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
-
-
-                    if (d20!=null){
-                        //TODO: Add logic here and below for webcam if using
+                    if (!outtake1) {
+                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
                     }
-
-                    if (d24!=null){
-
+                    if (!outtake2) {
+                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                    }
+                    if (!outtake3) {
+                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
                     }
 
                     switch (currentSlot) {
                         case 1:
-                            shootA = shootTeleop(spindexer_outtakeBall1);
+                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
                             TELE.addData("shootA", shootA);
 
-                            if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
-                            shootingDone = !shootA;
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootA;
                             } else {
                                 shootingDone = true;
                             }
                             break;
                         case 2:
-                            shootB = shootTeleop(spindexer_outtakeBall2);
+                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
                             TELE.addData("shootB", shootB);
-                            if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
                                 shootingDone = !shootB;
                             } else {
                                 shootingDone = true;
                             }
                             break;
                         case 3:
-                            shootC = shootTeleop(spindexer_outtakeBall3);
+                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
                             TELE.addData("shootC", shootC);
-                            if ((getRuntime()- shootStamp) < 3* (4-shootOrder.size())){
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
                                 shootingDone = !shootC;
                             } else {
                                 shootingDone = true;
@@ -501,47 +521,63 @@ public class TeleopV2 extends LinearOpMode {
                             break;
                     }
 
-
                     // Remove from the list only if shooting is complete
                     if (shootingDone) {
                         shootOrder.remove(0);
+                        shootStamp2 = getRuntime();
+
                     }
 
                 } else {
                     // Finished shooting all balls
-                    robot.spin1.setPosition(spindexer_intakePos1);
-                    robot.spin2.setPosition(1 - spindexer_intakePos1);
+                    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()){
+            if (gamepad2.squareWasPressed()) {
                 square = true;
                 shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
             }
 
-
-            if (gamepad2.circleWasPressed()){
+            if (gamepad2.circleWasPressed()) {
                 circle = true;
                 shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
 
             }
 
-
-            if (gamepad2.triangleWasPressed()){
+            if (gamepad2.triangleWasPressed()) {
                 triangle = true;
                 shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
 
             }
 
-
             if (square || circle || triangle) {
 
                 // Count green balls
@@ -573,7 +609,6 @@ public class TeleopV2 extends LinearOpMode {
                 square = false;
                 triangle = false;
 
-
             }
 
             // Right bumper shoots all balls fastest, ignoring colors
@@ -581,20 +616,80 @@ public class TeleopV2 extends LinearOpMode {
                 shootOrder.clear();
                 shootStamp = getRuntime();
 
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
                 // Fastest order (example: slot 3 → 2 → 1)
-                shootOrder.add(3);
-                shootOrder.add(2);
-                shootOrder.add(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.x){
-                shootAll = false;
-
+            if (gamepad2.leftBumperWasPressed()) {
+                emergency = false;
             }
 
             //MISC:
@@ -605,9 +700,9 @@ public class TeleopV2 extends LinearOpMode {
                 hub.clearBulkCache();
             }
 
-            TELE.addData("Spin1Green", green1);
-            TELE.addData("Spin2Green", green2);
-            TELE.addData("Spin3Green", green3);
+            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());
@@ -620,7 +715,6 @@ public class TeleopV2 extends LinearOpMode {
 
             aprilTagWebcam.update();
 
-
             TELE.update();
 
             ticker++;
@@ -649,18 +743,12 @@ public class TeleopV2 extends LinearOpMode {
         return countTrue > countWindow / 2.0; // more than 50% true
     }
 
-    boolean spindexPosEqual(double spindexer) {
-        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
-                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
-    }
-
-    public boolean shootTeleop(double spindexer) {
+    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
         // Set spin positions
-        robot.spin1.setPosition(spindexer);
-        robot.spin2.setPosition(1 - spindexer);
+        spindexPos = spindexer;
 
         // Check if spindexer has reached the target position
-        if (spindexPosEqual(spindexer)) {
+        if (spinOk || getRuntime() - stamp > 1.5) {
             if (tickerA == 1) {
                 transferStamp = getRuntime();
                 tickerA++;
@@ -696,9 +784,22 @@ public class TeleopV2 extends LinearOpMode {
         }
     }
 
-    public double hoodAnglePrediction(double distance) {
+    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;
 
-        return 0.4;
+            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) {
@@ -710,8 +811,6 @@ public class TeleopV2 extends LinearOpMode {
         TELE.addData("oddBall", oddColor);
         shootAll = true;
 
-
-
     }
 
     void addOddInMiddle(List<Integer> order, boolean oddColor) {
@@ -750,6 +849,7 @@ public class TeleopV2 extends LinearOpMode {
         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);
@@ -759,35 +859,45 @@ public class TeleopV2 extends LinearOpMode {
         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;
+        switch (slot) {
+            case 1:
+                return green1;
+            case 2:
+                return green2;
+            case 3:
+                return green3;
         }
         return false; // default
     }
 
-        public static double velPrediction(double distance) {
+    boolean ballIn(int slot) {
+        switch (slot) {
+            case 1:
 
-        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));
+                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/TeleopV3.java

@@ -0,0 +1,797 @@
+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.Color.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+
+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.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
+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 TeleopV3 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    LimelightManager limelightManager;
+
+    public static double manualVel = 3000;
+    public static double hoodDefaultPos = 0.5;
+    public static double desiredTurretAngle = 180;
+    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;
+    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;
+    double hoodOffset = 0.0;
+    boolean shootA = true;
+    boolean shootB = true;
+    boolean shootC = true;
+    boolean manualTurret = false;
+    List<Integer> shootOrder = new ArrayList<>();
+    boolean outtake1 = false;
+    boolean outtake2 = false;
+    boolean outtake3 = false;
+    boolean overrideTurr = false;
+    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;
+    double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0, spinningPow = 0.15;
+    boolean reverse = false;
+    int intakeTicker = 0;
+
+    @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();
+        drive = new MecanumDrive(hardwareMap, teleStart);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+
+        if (redAlliance) {
+            limelightManager.switchMode(LimelightManager.LimelightMode.RED_GOAL);
+        } else {
+            limelightManager.switchMode(LimelightManager.LimelightMode.BLUE_GOAL);
+        }
+
+        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);
+
+            // PID SERVOS
+            turretPID = servo.setTurrPos(turretPos);
+            robot.turr1.setPower(turretPID);
+            robot.turr2.setPower(-turretPID);
+
+            if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
+                spindexPID = servo.setSpinPos(spindexPos);
+                robot.spin1.setPower(spindexPID);
+                robot.spin2.setPower(-spindexPID);
+            } else {
+                robot.spin1.setPower(0);
+                robot.spin2.setPower(0);
+            }
+
+            // INTAKE
+            if (gamepad1.right_bumper) {
+                robot.transferServo.setPosition(transferServo_out);
+                intakeTicker++;
+                if (intakeTicker % 16 == 0) {
+                    spinCurrentPos = servo.getSpinPos();
+                    if (Math.abs(spinCurrentPos - spinInitPos) == 0.0) {
+                        reverse = !reverse;
+                    }
+                    spinInitPos = spinCurrentPos;
+                }
+                if (reverse) {
+                    robot.spin1.setPower(spinningPow);
+                    robot.spin2.setPower(-spinningPow);
+                } else {
+                    robot.spin1.setPower(-spinningPow);
+                    robot.spin2.setPower(spinningPow);
+                }
+                robot.intake.setPower(1);
+                intakeStamp = getRuntime();
+                TELE.addData("Reverse?", reverse);
+                TELE.update();
+            } else if (gamepad1.left_bumper) {
+                robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
+                spindexPos = spindexer_intakePos2;
+                intakeTicker = 0;
+            } else {
+                if (getRuntime() - intakeStamp < 1) {
+                    robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
+                } else {
+                    robot.intake.setPower(0);
+                }
+                intakeTicker = 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 < 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);
+
+                s1G.add(gP);
+
+                if (gP >= 0.43) {
+                    s1.add(true);
+                } else {
+                    s1.add(false);
+                }
+
+                s1T.add(getRuntime());
+
+            }
+
+            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);
+
+                s2G.add(gP);
+
+                if (gP >= 0.43) {
+                    s2.add(true);
+                } else {
+                    s2.add(false);
+                }
+
+                s2T.add(getRuntime());
+            }
+
+            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);
+
+                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.shooter1.getCurrentPosition());
+
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            robot.transfer.setPower(1);
+
+            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
+                limelightManager.update();
+                double bearing = limelightManager.getBearing();
+                
+                if (limelightManager.getLatestResult() != null && limelightManager.getLatestResult().isValid()) {
+                    overrideTurr = true;
+                    turretPos = servo.getTurrPos() - (bearing / 1300);
+
+                    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++;
+                    TELE.addData("tx", bearing);
+                    TELE.addData("ty", limelightManager.getLatestResult().getTy());
+                }
+
+            } 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;
+
+            }
+
+            //TODO: FIX THIS GOOFY THING BECAUSE IT SUCKS @KeshavAnandCode
+            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;
+                }
+            }
+
+            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 (gamepad1.squareWasPressed()) {
+                    square = true;
+                    shootStamp = getRuntime();
+                    shootStamp2 = getRuntime();
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+                }
+
+                if (gamepad1.circleWasPressed()) {
+                    circle = true;
+                    shootStamp = getRuntime();
+                    shootStamp2 = getRuntime();
+
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+
+                }
+
+                if (gamepad1.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 (gamepad1.crossWasPressed()) {
+                    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;
+                }
+
+                //EXTRA STUFFINESS:
+
+                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);
+
+                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) {
+        List<Double> times =
+                slot == 1 ? s1T :
+                slot == 2 ? s2T :
+                slot == 3 ? s3T : null;
+
+        if (times == null || times.isEmpty()) return false;
+
+        return times.get(times.size() - 1) > getRuntime() - 2;
+    }
+
+    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));
+        }
+    }
+
+}

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

@@ -0,0 +1,77 @@
+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.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;
+
+@Config
+@TeleOp
+//TODO: fix to get the apriltag that it is reading
+public class LimelightTest extends LinearOpMode {
+    MultipleTelemetry TELE;
+    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
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        limelight.pipelineSwitch(pipeline);
+        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();
+                    }
+
+                }
+            } 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/PIDServoTest.java

@@ -0,0 +1,74 @@
+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 com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+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);
+        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 == 0) {
+                pos = scalar * ((robot.turr1Pos.getVoltage() - restPos) / 3.3);
+
+                double pid = controller.calculate(pos, target);
+
+                robot.turr1.setPower(pid);
+                robot.turr2.setPower(-pid);
+            } else if (mode == 1) {
+                pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
+
+                double pid = controller.calculate(pos, target);
+
+                robot.spin1.setPower(pid);
+                robot.spin2.setPower(-pid);
+            }
+
+            telemetry.addData("pos", pos);
+            telemetry.addData("Turret Voltage", robot.turr1Pos.getVoltage());
+            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

@@ -1,5 +1,7 @@
 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;
@@ -7,6 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
@@ -16,18 +19,14 @@ public class ShooterTest extends LinearOpMode {
     public static int mode = 0;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
-    public static double MAX_RPM = 4500;      // your measured max RPM
-    public static double kP = 0.001;           // small proportional gain (tune this)
-    public static double maxStep = 0.06;         // prevents sudden jumps
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
-    public static double transferPower = 0.0;
+    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;
-    private double lastEncoderRevolutions = 0.0;
-    private double lastTimeStamp = 0.0;
+    Flywheel flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -35,7 +34,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        DcMotorEx encoder = robot.shooter1;
+        flywheel = new Flywheel();
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -47,60 +46,35 @@ public class ShooterTest extends LinearOpMode {
 
         while (opModeIsActive()) {
 
-            double kF = 1.0 / MAX_RPM;     // baseline feedforward
-
-            double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
-
-            double velocity = -60 * (encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
-
-            TELE.addLine("Mode: 0 = Manual, 1 = Vel, 2 = Pos");
-            TELE.addLine("Parameter = pow, vel, or pos");
-            TELE.addData("leftShooterPower", leftShooter.getPower());
-            TELE.addData("rightShooterPower", rightShooter.getPower());
-            TELE.addData("shaftEncoderPos", encoderRevolutions);
-            TELE.addData("shaftEncoderVel", velocity);
-
-            double velPID;
-
             if (mode == 0) {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-
-                // --- FEEDFORWARD BASE POWER ---
-                double feed = kF * parameter;        // Example: vel=2500 → feed=0.5
-
-                // --- PROPORTIONAL CORRECTION ---
-                double error = parameter - velocity;
-                double correction = kP * error;
-
-                // limit how fast power changes (prevents oscillation)
-                correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-                // --- FINAL MOTOR POWER ---
-                velPID = feed + correction;
-
-                // clamp to allowed range
-                velPID = Math.max(0, Math.min(1, velPID));
-
-                rightShooter.setPower(velPID);
-                leftShooter.setPower(velPID);
-
+                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition());
+                rightShooter.setPower(powPID);
+                leftShooter.setPower(powPID);
+                TELE.addData("PIDPower", powPID);
             }
 
-            lastTimeStamp = getRuntime();
-            lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
-
             if (hoodPos != 0.501) {
                 robot.hood.setPosition(hoodPos);
             }
 
-            if (turretPos!=0.501){
-                robot.turr1.setPosition(turretPos);
-                robot.turr2.setPosition(turretPos);
+            if (turretPos != 0.501) {
+                robot.turr1.setPower(turretPos);
+                robot.turr2.setPower(turretPos);
             }
 
             robot.transfer.setPower(transferPower);
+            if (shoot) {
+                robot.transferServo.setPosition(transferServo_in);
+            } else {
+                robot.transferServo.setPosition(transferServo_out);
+            }
+            TELE.addData("Velocity", flywheel.getVelo());
+            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/utils/Flywheel.java

@@ -7,21 +7,22 @@ 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 stamp2 = 0.0;
     double currentPos = 0.0;
-    boolean prevSteady = false;
     double velo = 0.0;
-    double prevVelo = 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);
     }
@@ -41,15 +42,22 @@ public class Flywheel {
 
 
     public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
-        targetVelocity = (double) commandedVelocity;
+        targetVelocity = commandedVelocity;
 
         ticker++;
-        if (ticker % 8 == 0) {
+        if (ticker % 2 == 0) {
+            velo5 = velo4;
+            velo4 = velo3;
+            velo3 = velo2;
+            velo2 = velo1;
+
             currentPos = shooter1CurPos / 2048;
             stamp = getTimeSeconds(); //getRuntime();
-            velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+            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) {
@@ -74,19 +82,12 @@ public class Flywheel {
         }
 
         // really should be a running average of the last 5
-        if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0))
-        {
-            steady = true;
-        }
-        else
-        {
-            steady = false;
-        }
+        steady = (Math.abs(targetVelocity - velo) < 100.0);
 
         return powPID;
     }
 
     public void update()
     {
-    };
-};
+    }
+}

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

@@ -0,0 +1,104 @@
+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 > 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));
+        }
+
+        steady = (Math.abs(targetVelocity - velo) < 100.0);
+
+        return powPID;
+    }
+
+    public void update() {
+    }
+}

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

@@ -0,0 +1,103 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import java.util.List;
+
+@Config
+public class LimelightManager {
+    private Limelight3A limelight;
+    private LLResult lastResult;
+    private int lastFiducialId = -1;
+    private double lastBearing = 0.0;
+
+    public static final int PIPELINE_DEFAULT = 1;
+    public static final int PIPELINE_BLUE_DETECTION = 2;
+    public static final int PIPELINE_RED_DETECTION = 3;
+
+    public enum LimelightMode {
+        OBELISK_DETECTION(PIPELINE_DEFAULT),
+        BLUE_GOAL(PIPELINE_BLUE_DETECTION),
+        RED_GOAL(PIPELINE_RED_DETECTION);
+
+        public final int pipeline;
+
+        LimelightMode(int pipeline) {
+            this.pipeline = pipeline;
+        }
+    }
+
+    public LimelightManager(HardwareMap hardwareMap, boolean enabled) {
+        if (enabled) {
+            this.limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        }
+    }
+
+    public void init() {
+        if (limelight != null) {
+            limelight.start();
+        }
+    }
+
+    public void switchMode(LimelightMode mode) {
+        if (limelight != null) {
+            limelight.pipelineSwitch(mode.pipeline);
+        }
+    }
+
+    public void setPipeline(int pipeline) {
+        if (limelight != null) {
+            limelight.pipelineSwitch(pipeline);
+        }
+    }
+
+    public void update() {
+        if (limelight != null) {
+            lastResult = limelight.getLatestResult();
+            if (lastResult != null && lastResult.isValid()) {
+                lastBearing = lastResult.getTx();
+            }
+        }
+    }
+
+    public double getBearing() {
+        return lastBearing;
+    }
+
+    public int detectFiducial() {
+        if (lastResult != null && lastResult.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = lastResult.getFiducialResults();
+            if (!fiducials.isEmpty()) {
+                lastFiducialId = fiducials.get(0).getFiducialId();
+                return lastFiducialId;
+            }
+        }
+        return -1;
+    }
+
+    public int getLastFiducialId() {
+        return lastFiducialId;
+    }
+
+    public boolean isFiducialDetected(int id) {
+        return lastFiducialId == id;
+    }
+
+    public LLResult getLatestResult() {
+        return lastResult;
+    }
+
+    public boolean isConnected() {
+        return limelight != null;
+    }
+
+    public Limelight3A getLimelight() {
+        return limelight;
+    }
+}

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

@@ -1,5 +1,7 @@
 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;
@@ -11,27 +13,47 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 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
 
-    public static double scalar = 1.112;
-    public static double restPos = 0.158;
     @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){
-                robot.spin1.setPosition(spindexPos);
-                robot.spin2.setPosition(1-spindexPos);
+            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 (turretPos != 0.501 && !servo.turretEqual(turretPos)){
+                double pos = servo.setTurrPos(turretPos);
+                robot.turr1.setPower(pos);
+                robot.turr2.setPower(-pos);
+            } else if (mode == 0){
+                robot.turr1.setPower(turrHoldPow);
+                robot.turr2.setPower(turrHoldPow);
+            } else {
+                robot.turr1.setPower(turretPow);
+                robot.turr2.setPower(-turretPow);
             }
             if (transferPos != 0.501){
                 robot.transferServo.setPosition(transferPos);
@@ -39,14 +61,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (hoodPos != 0.501){
                 robot.hood.setPosition(hoodPos);
             }
-            TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
-            TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
-            TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
-            TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
-            TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
-            TELE.addData("hoodA", robot.hoodPos.getVoltage());
-            TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
-            TELE.addData("turretA", robot.turr1Pos.getVoltage());
+            TELE.addData("spindexer", servo.getSpinPos());
+            TELE.addData("turret", servo.getTurrPos());
+            TELE.addData("spindexer voltage", robot.spin1Pos.getVoltage());
+            TELE.addData("hood voltage", robot.hoodPos.getVoltage());
+            TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
+            TELE.addData("turret voltage", robot.turr1Pos.getVoltage());
+            TELE.addData("Spin Equal", servo.spinEqual(spindexPos));
             TELE.update();
         }
     }

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

@@ -1,7 +1,9 @@
 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;
@@ -18,67 +20,42 @@ public class Robot {
 
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
-
     public DcMotorEx backLeft;
-
     public DcMotorEx backRight;
-
     public DcMotorEx intake;
-
     public DcMotorEx transfer;
-
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
-
     public Servo transferServo;
-
     public Servo rejecter;
-
-    public Servo turr1;
-
-    public Servo turr2;
-
-    public Servo spin1;
-
-    public Servo spin2;
-
+    public CRServo turr1;
+    public CRServo turr2;
+    public CRServo spin1;
+    public CRServo spin2;
     public DigitalChannel pin0;
-
     public DigitalChannel pin1;
     public DigitalChannel pin2;
     public DigitalChannel pin3;
     public DigitalChannel pin4;
-
     public DigitalChannel pin5;
-
     public AnalogInput analogInput;
-
     public AnalogInput analogInput2;
-
     public AnalogInput spin1Pos;
-
     public AnalogInput spin2Pos;
-
     public AnalogInput hoodPos;
-
     public AnalogInput turr1Pos;
-
     public AnalogInput turr2Pos;
-
     public AnalogInput transferServoPos;
-
     public AprilTagProcessor aprilTagProcessor;
-
     public WebcamName webcam;
-
     public DcMotorEx shooterEncoder;
-
     public RevColorSensorV3 color1;
-
     public RevColorSensorV3 color2;
-
     public RevColorSensorV3 color3;
+    public Limelight3A limelight;
+
+    public static boolean usingLimelight = true;
 
     public Robot(HardwareMap hardwareMap) {
 
@@ -104,6 +81,8 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
 
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
+        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
         shooterEncoder = shooter1;
 
@@ -111,22 +90,25 @@ public class Robot {
 
         hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
 
-        turr1 = hardwareMap.get(Servo.class, "t1");
+        turr1 = hardwareMap.get(CRServo.class, "t1");
 
         turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
 
-        turr2 = hardwareMap.get(Servo.class, "t2");
+        turr2 = hardwareMap.get(CRServo.class, "t2");
 
         turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
 
-        spin1 = hardwareMap.get(Servo.class, "spin1");
+        spin1 = hardwareMap.get(CRServo.class, "spin1");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
 
-        spin2 = hardwareMap.get(Servo.class, "spin2");
+        spin2 = hardwareMap.get(CRServo.class, "spin2");
 
         spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
 
+        spin1.setDirection(DcMotorSimple.Direction.REVERSE);
+        spin2.setDirection(DcMotorSimple.Direction.REVERSE);
+
         pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
 
         pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
@@ -160,5 +142,9 @@ public class Robot {
         color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
+
+        if (usingLimelight){
+            limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        }
     }
 }

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 {
+    Robot robot;
+
+    PIDFController spinPID;
+
+    PIDFController turretPID;
+
+    //PID constants
+    // TODO: get PIDF constants
+    public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
+    public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
+
+    public static double spin_scalar = 1.0086;
+    public static double spin_restPos = 0.0;
+    public static double turret_scalar = 1.009;
+    public static double turret_restPos = 0.0;
+
+    public Servos(HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+        spinPID = new PIDFController(spinP, spinI, spinD, spinF);
+        turretPID = new PIDFController(turrP, turrI, turrD, turrF);
+    }
+
+    // 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 turret_scalar * ((robot.turr1Pos.getVoltage() - turret_restPos) / 3.3);
+    }
+
+    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;
+    }
+}