Sorting beta workish

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java

@@ -25,24 +25,38 @@ public class TeleopV4 extends LinearOpMode {
     MultipleTelemetry TELE;
     Follower follower;
     SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+
+    ParkTilter parkTilter;
 
     @Override
     public void runOpMode() throws InterruptedException {
 
+        Robot.resetInstance();
+
         robot = Robot.getInstance(hardwareMap);
 
         TELE = new MultipleTelemetry(
                 FtcDashboard.getInstance().getTelemetry(), telemetry
         );
 
+        commander = new VelocityCommander();
         drivetrain = new Drivetrain(robot, TELE);
         follower = Constants.createFollower(hardwareMap);
         Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
         follower.setStartingPose(start);
 
-        shooter = new Shooter(robot, TELE, follower, Color.redAlliance);
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+        parkTilter = new ParkTilter(robot);
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
         shooter.setState(Shooter.ShooterState.TRACK_GOAL);
-        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE);
+        shooter.setRedAlliance(Color.redAlliance);
+        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
         spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
 
 
@@ -51,21 +65,22 @@ public class TeleopV4 extends LinearOpMode {
         if (isStopRequested()) return;
 
         while (opModeIsActive()) {
-
             //Drivetrain
-
             drivetrain.drive(
                     -gamepad1.right_stick_y,
                     gamepad1.right_stick_x,
                     gamepad1.left_stick_x
             );
 
-            shooter.update();
+            follower.update();
+
+
+            shooter.update(robot.voltage.getVoltage());
             spindexerTransferIntake.update();
 
             SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
 
-            if (gamepad1.xWasPressed() &&
+            if (gamepad1.leftBumperWasPressed() &&
                     (state == SpindexerTransferIntake.RapidMode.INTAKE ||
                             state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF ||
                             state == SpindexerTransferIntake.RapidMode.BEFORE_PULSE_OUT ||
@@ -76,7 +91,7 @@ public class TeleopV4 extends LinearOpMode {
                 spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
             }
 
-            if (gamepad1.aWasPressed() &&
+            if (gamepad1.right_trigger > 0.5 &&
                     (state == SpindexerTransferIntake.RapidMode.INTAKE ||
                             state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
 
@@ -84,8 +99,7 @@ public class TeleopV4 extends LinearOpMode {
                         SpindexerTransferIntake.RapidMode.HOLD_BALLS
                 );
             }
-
-            if (gamepad1.yWasPressed()
+            if (gamepad1.rightBumperWasPressed()
                     && state == SpindexerTransferIntake.RapidMode.HOLD_BALLS) {
 
                 spindexerTransferIntake.setRapidMode(
@@ -93,6 +107,17 @@ public class TeleopV4 extends LinearOpMode {
                 );
             }
 
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
+            TELE.addData("Distance From Goal", commander.getDistance());
+            TELE.addData("Hood Position", commander.getHoodPredicted());
+            TELE.addData("Transfer Power", robot.transfer.getPower());
+            TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
+            TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
 
             TELE.update();
         }

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

@@ -130,7 +130,7 @@ public class Hardware_Tester extends LinearOpMode {
 //            TELE.addData("Beam Break 3?", robot.beam3.isPressed());
 
             NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
-            TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.MM));
+            TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.CM));
             TELE.addData("REV Green", revColor.green / (revColor.red + revColor.blue + revColor.green));
 
             TELE.addData("Voltage Sensor", robot.voltage.getVoltage());

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

@@ -1,45 +1,39 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+
 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.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.constants.Color;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
-import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
-import org.firstinspires.ftc.teamcode.utilsv2.Robot;
-import org.firstinspires.ftc.teamcode.utilsv2.Shooter;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
 
-@Config
 @TeleOp
+@Config
 public class NewShooterTest extends LinearOpMode {
-
     Robot robot;
-    MultipleTelemetry TELE;
+    Drivetrain drivetrain;
     Shooter shooter;
-    Flywheel rpmFlywheel;
+    MultipleTelemetry TELE;
+    Follower follower;
+    SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+    ParkTilter parkTilter;
 
-    public static boolean intake = true;
-    public static boolean shoot = false;
-    public static double intakePower = 1.0;
-    public static double transferShootPower = -1;
-    public static double transferIntakePower = -1;
-    public static double turretPos = 0.51;
-    public static double hoodPos = 0.51;
-    public static double flywheel = 0;
-
-    public static double shooterP = 255, shooterI = 0, shooterD = 0, shooterF = 75;
-
-    private enum ShootState {
-        IDLE,
-        WAIT_GATE,
-        WAIT_PUSH
-    }
-
-    private ShootState shootState = ShootState.IDLE;
-    private long timestamp = 0;
+    public static int flywheelVelo = 0;
+    public static double hoodPos = 0.5;
+    public static double transferPower = -0.7;
+//    public static double turretPos = 0.51;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -48,95 +42,90 @@ public class NewShooterTest extends LinearOpMode {
 
         robot = Robot.getInstance(hardwareMap);
 
-        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        shooter = new Shooter(
-                robot,
-                TELE,
-                Constants.createFollower(hardwareMap),
-                true
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(), telemetry
         );
 
-        rpmFlywheel = new Flywheel(robot);
+        commander = new VelocityCommander();
+        drivetrain = new Drivetrain(robot, TELE);
+        follower = Constants.createFollower(hardwareMap);
+        Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
+        follower.setStartingPose(start);
 
-        shooter.setState(Shooter.ShooterState.MANUAL);
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+        parkTilter = new ParkTilter(robot);
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+        shooter.setRedAlliance(Color.redAlliance);
+        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
+        spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
 
         waitForStart();
 
         if (isStopRequested()) return;
 
         while (opModeIsActive()) {
+            //Drivetrain
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x
+            );
 
+            follower.update();
+
+            shooter.setFlywheelVelocity(flywheelVelo);
             robot.setHoodPos(hoodPos);
-            shooter.setTurretPosition(turretPos);
-            shooter.setFlywheelVelocity(flywheel);
-            rpmFlywheel.manageFlywheel(shooter.getFlywheelVelocity());
-            double voltage = robot.voltage.getVoltage();
-            rpmFlywheel.setPIDF(shooterP, shooterI, shooterD, shooterF / voltage);
+//            shooter.setTurretPosition(turretPos);
+            shooter.update(robot.voltage.getVoltage());
+            spindexerTransferIntake.update();
 
-            robot.setSpinPos(ServoPositions.spindexer_A2);
+            SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
 
-            if (intake && !shoot) {
+            if (gamepad1.leftBumperWasPressed() &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF ||
+                            state == SpindexerTransferIntake.RapidMode.BEFORE_PULSE_OUT ||
+                            state == SpindexerTransferIntake.RapidMode.PULSE_OUT ||
+                            state == SpindexerTransferIntake.RapidMode.PULSE_IN ||
+                            state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
 
-                shootState = ShootState.IDLE;
-
-                robot.setRapidFireBlockerPos(
-                        ServoPositions.rapidFireBlocker_Closed);
-
-                robot.setTransferPower(transferIntakePower);
-                robot.setIntakePower(intakePower);
-                robot.setTransferServoPos(
-                        ServoPositions.transferServo_out);
-            } else if (shoot) {
-                robot.setIntakePower(intakePower);
-
-
-                switch (shootState) {
-
-                    case IDLE:
-
-                        robot.setTransferPower(transferShootPower);
-
-                        timestamp = System.currentTimeMillis();
-                        shootState = ShootState.WAIT_GATE;
-
-                        break;
-
-                    case WAIT_GATE:
-
-                        if (System.currentTimeMillis() - timestamp >= 300) {
-
-                            robot.setRapidFireBlockerPos(
-                                    ServoPositions.rapidFireBlocker_Open);
-
-                            timestamp = System.currentTimeMillis();
-                            shootState = ShootState.WAIT_PUSH;
-                        }
-
-                        break;
-
-                    case WAIT_PUSH:
-
-                        if (System.currentTimeMillis() - timestamp >= 100) {
-
-                            robot.setTransferServoPos(
-                                    ServoPositions.transferServo_in);
-
-                            shootState = ShootState.IDLE;
-                        }
-
-                        break;
-                }
+                spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
             }
 
-            TELE.addData("Flywheel Velocity1", (robot.shooter1.getVelocity() * 60) / 28);
-            TELE.addData("Flywheel Velocity2", (robot.shooter2.getVelocity() * 60) / 28);
-            TELE.addData("Flywheel Averag Velocity", rpmFlywheel.getAverageVelocity());
-            TELE.addData("PIDF Coefficients", Flywheel.shooterPIDF);
-            TELE.addData("Power", rpmFlywheel.getShooterPower());
-            TELE.update();
+            if (gamepad1.right_trigger > 0.5 &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
 
-            shooter.update();
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.HOLD_BALLS
+                );
+            }
+            if (gamepad1.rightBumperWasPressed()
+                    && state == SpindexerTransferIntake.RapidMode.HOLD_BALLS) {
+
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.INTAKE
+                );
+            }
+
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
+            TELE.addData("Distance From Goal", commander.getDistance());
+            TELE.addData("Hood Position", commander.getHoodPredicted());
+            TELE.addData("Transfer Power", commander.getTransferPow());
+            TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
+            TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
+
+            TELE.update();
         }
+
     }
 }

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

@@ -0,0 +1,141 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+
+@TeleOp
+@Config
+public class SortedSpindexerTest extends LinearOpMode {
+    Robot robot;
+    Drivetrain drivetrain;
+    Shooter shooter;
+    MultipleTelemetry TELE;
+    Follower follower;
+    SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+
+    ParkTilter parkTilter;
+    public static String order = "GPP";
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot.resetInstance();
+
+        robot = Robot.getInstance(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(), telemetry
+        );
+
+        commander = new VelocityCommander();
+        drivetrain = new Drivetrain(robot, TELE);
+        follower = Constants.createFollower(hardwareMap);
+        Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
+        follower.setStartingPose(start);
+
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+        parkTilter = new ParkTilter(robot);
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        shooter.setState(Shooter.ShooterState.TRACK_GOAL);
+        shooter.setRedAlliance(Color.redAlliance);
+        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
+        spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SORTED);
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+            switch(order) {
+                case "PPG":
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.PPG
+                    );
+                    break;
+
+                case "PGP":
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.PGP
+                    );
+                    break;
+
+                default:
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.GPP
+                    );
+            }
+
+
+            //Drivetrain
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x
+            );
+
+            follower.update();
+
+
+            shooter.update(robot.voltage.getVoltage());
+            spindexerTransferIntake.update();
+
+            SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
+
+            if(gamepad1.leftBumperWasPressed()) {
+                spindexerTransferIntake.startSortedShoot();
+            }
+
+            if (gamepad1.right_trigger > 0.5 &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
+
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.HOLD_BALLS
+                );
+            }
+            if (gamepad1.rightBumperWasPressed()
+                    && state == SpindexerTransferIntake.RapidMode.HOLD_BALLS) {
+
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.INTAKE
+                );
+            }
+
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
+            TELE.addData("Distance From Goal", commander.getDistance());
+            TELE.addData("Hood Position", commander.getHoodPredicted());
+            TELE.addData("Transfer Power", robot.transfer.getPower());
+            TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
+            TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
+
+            TELE.update();
+        }
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.robotcore.hardware.DcMotor;
 
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -9,15 +10,16 @@ import org.firstinspires.ftc.teamcode.utilsv2.Robot;
 
 import java.util.LinkedList;
 
+@Config
 public class Flywheel {
     Robot robot;
 
 //    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     public static PIDFCoefficients shooterPIDF;
-    public static double shooterPIDF_P = 255;
-    public static double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_P = 500;
+    public static double shooterPIDF_I = 1;
     public static double shooterPIDF_D = 0.0;
-    public static double shooterPIDF_F = 75;
+    public static double shooterPIDF_F = 93;
 
     private double velo = 0.0;
     private double velo1 = 0.0;
@@ -70,8 +72,9 @@ public class Flywheel {
 
     private double prevF = 0;
 
-    public static double voltagePIDFDifference = 0.8;
-    public void setF(double f){
+    public static double voltagePIDFDifference = 1;
+    public void setF(double voltage){
+        double f = shooterPIDF_F / voltage;
         if (Math.abs(prevF - f) > voltagePIDFDifference) {
             shooterPIDF.f = f;
             robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
@@ -128,5 +131,7 @@ public class Flywheel {
 
         steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
     }
+
+
     public double getShooterPower(){return power;}
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/ParkTilter.java

@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+
+public class ParkTilter {
+    Robot robot;
+    public ParkTilter (Robot rob) {
+        this.robot = rob;
+    }
+
+    public void park() {
+        robot.setTilt1Pos(ServoPositions.tilt1_down);
+        robot.setTilt2Pos(ServoPositions.tilt2_down);
+    }
+
+    public void unpark() {
+        robot.setTilt1Pos(ServoPositions.tilt1_up);
+        robot.setTilt2Pos(ServoPositions.tilt2_up);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java

@@ -169,7 +169,7 @@ public class Robot {
     // Voids below are used to minimize hardware calls to minimize loop times
 
     // Used to cut off digits that are negligible
-    private final int maxDigits = 5;
+    private final int maxDigits = 3;
     private final int roundingFactor = (int) Math.pow(10, maxDigits);
 
     private double prevFrontLeftPower = -10.501;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java

@@ -1,12 +1,16 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
+import static org.firstinspires.ftc.teamcode.utilsv2.Flywheel.*;
+
+import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.pedropathing.follower.Follower;
 
-
+@Config
 public class Shooter {
 
     Robot robot;
+    Flywheel fly;
     Turret turr;
     VelocityCommander commander;
 
@@ -14,30 +18,38 @@ public class Shooter {
     double goalY = 0.0;
     double obeliskX = 72;
     double obeliskY = 144;
+    double turretGoalX = 0;
+    double turretGoalY = 0;
 
     private boolean red = true;
+    public static boolean manualFlywheel = false;
 
 
     Follower follow;
 
-    public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance) {
+    public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance, Turret turret, Flywheel flywheel, VelocityCommander com) {
         this.robot = rob;
-        this.turr = new Turret(rob);
+        this.fly = flywheel;
+        this.turr = turret;
         this.follow = follower;
-        this.commander = new VelocityCommander();
+        this.commander = com;
 
         setRedAlliance(redAlliance);
 
-        if (redAlliance) {
-            goalX = 144;
-        } else {
-            goalX = 0;
-        }
-        goalY = 144;
     }
 
     public void setRedAlliance(boolean input) {
         this.red = input;
+
+        if (this.red) {
+            goalX = 144;
+            turretGoalX = 136;
+        } else {
+            goalX = 0;
+            turretGoalX = 8;
+        }
+        goalY = 144;
+        turretGoalY = 136;
     }
 
     private double flywheelVelocity = 0.0;
@@ -66,24 +78,38 @@ public class Shooter {
     public void setFlywheelVelocity(double input) {
         this.flywheelVelocity = input;
     }
-    public double getFlywheelVelocity(){return this.flywheelVelocity;}
+
     public int getObeliskID() {
         return turr.getObeliskID();
     }
 
-
-    public void update() {
+    private final double shooterDistFromCenter = 1.545;
+    public void update(double voltage) {
 
         switch (state) {
             case NOTHING:
                 break;
             case MANUAL:
+                manualFlywheel = true;
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent(),
+                        voltage
+                );
+
+                fly.manageFlywheel(flywheelVelocity);
+                fly.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / voltage);
                 turr.manual(turretPosition);
                 break;
             case TRACK_GOAL:
+                manualFlywheel = false;
                 turr.trackGoal(
-                        (follow.getPose().getX() - goalX),
-                        (follow.getPose().getY() - goalY),
+                        (turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
                         follow.getHeading(),
                         follow.getAngularVelocity(),
                         follow.getVelocity().getXComponent(),
@@ -92,51 +118,70 @@ public class Shooter {
                         follow.getAcceleration().getYComponent()
                 );
 
-                flywheelVelocity = commander.getVeloPredictive(
-                        (follow.getPose().getX() - goalX),
-                        (follow.getPose().getY() - goalY),
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
                         follow.getVelocity().getXComponent(),
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
-                        follow.getAcceleration().getYComponent()
+                        follow.getAcceleration().getYComponent(),
+                        voltage
                 );
 
+                flywheelVelocity = commander.getPredictedRPM();
+
+                robot.setHoodPos(commander.getHoodPredicted());
+                fly.manageFlywheel(flywheelVelocity);
+                fly.setF(voltage);
                 break;
             case READ_OBELISK:
+                manualFlywheel = false;
                 turr.trackObelisk(
-                        (follow.getPose().getX() - goalX),
-                        (follow.getPose().getY() - goalY),
+                        (obeliskX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (obeliskY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
                         follow.getHeading()
                 );
 
-                flywheelVelocity = commander.getVeloPredictive(
-                        (follow.getPose().getX() - goalX),
-                        (follow.getPose().getY() - goalY),
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
                         follow.getVelocity().getXComponent(),
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
-                        follow.getAcceleration().getYComponent()
+                        follow.getAcceleration().getYComponent(),
+                        voltage
                 );
 
+                flywheelVelocity = commander.getPredictedRPM();
+
+                fly.manageFlywheel(flywheelVelocity);
+                fly.setF(voltage);
                 break;
 
             case MANUAL_TURRET_TRACK_FLY:
+                manualFlywheel = false;
                 turr.manual(turretPosition);
-                flywheelVelocity = commander.getVeloPredictive(
-                        (follow.getPose().getX() - goalX),
-                        (follow.getPose().getY() - goalY),
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
                         follow.getVelocity().getXComponent(),
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
-                        follow.getAcceleration().getYComponent()
+                        follow.getAcceleration().getYComponent(),
+                        voltage
                 );
 
+                flywheelVelocity = commander.getPredictedRPM();
+                robot.setHoodPos(commander.getHoodPredicted());
+
+                fly.manageFlywheel(flywheelVelocity);
                 break;
 
             case MANUAL_FLYWHEEL_TRACK_TURR:
+                manualFlywheel = true;
                 turr.trackGoal(
-                        (follow.getPose().getX() - goalX),
-                        (follow.getPose().getY() - goalY),
+                        (turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
                         follow.getHeading(),
                         follow.getAngularVelocity(),
                         follow.getVelocity().getXComponent(),
@@ -144,10 +189,25 @@ public class Shooter {
                         follow.getVelocity().getYComponent(),
                         follow.getAcceleration().getYComponent()
                 );
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent(),
+                        voltage
+                );
+                fly.manageFlywheel(flywheelVelocity);
+                fly.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / voltage);
+                fly.setF(voltage);
                 break;
 
         }
 
     }
 
+    public double getDistance(){return commander.getDistance();}
+
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java

@@ -1,24 +1,191 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
+import android.health.connect.datatypes.units.Velocity;
+
+import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.tests.NewShooterTest;
 
+@Config
 public class SpindexerTransferIntake {
 
     private final Robot robot;
 
-    public SpindexerTransferIntake(Robot rob, MultipleTelemetry TELE) {
+    VelocityCommander commander;
+
+    private MultipleTelemetry TELE;
+
+    public SpindexerTransferIntake(Robot rob, MultipleTelemetry tele, VelocityCommander com) {
         this.robot = rob;
+        this.commander = com;
+        this.TELE = tele;
     }
 
-    private final double sensorDistanceThreshold = 4.0;
-    private final long pulseTime = 50; // ms
+    public enum DesiredPattern {
+        PPG,
+        PGP,
+        GPP
+    }
+
+    public enum SortedShootState {
+        IDLE,
+
+        MOVE_TO_1,
+        WAIT_FOR_1,
+        SHOOT_1,
+        RETRACT_1,
+
+        MOVE_TO_2,
+        WAIT_FOR_2,
+        SHOOT_2,
+        RETRACT_2,
+
+        MOVE_TO_3,
+        WAIT_FOR_3,
+        SHOOT_3,
+        RETRACT_3,
+
+        DONE
+    }
+
+    int[] shootOrder = {0, 1, 2};
+    private final double sensorDistanceThreshold = 6.0;
+    private final long pulseTime = 100; // ms
+
+    private DesiredPattern desiredPattern = DesiredPattern.GPP;
+
+    private SortedShootState shootState = SortedShootState.IDLE;
+    private long shootStateStartTime = System.currentTimeMillis();
+
+    private void setShootState(SortedShootState newState) {
+        shootState = newState;
+        shootStateStartTime = System.currentTimeMillis();
+    }
+
+    private long shootStateTime() {
+        return System.currentTimeMillis() - shootStateStartTime;
+    }
+
+    private int[] buildShootOrder(
+            BallStates[] loaded,
+            DesiredPattern desired) {
+
+        BallStates[] target;
+
+        switch (desired) {
+            case PPG:
+                target = new BallStates[]{
+                        BallStates.PURPLE,
+                        BallStates.PURPLE,
+                        BallStates.GREEN
+                };
+                break;
+
+            case PGP:
+                target = new BallStates[]{
+                        BallStates.PURPLE,
+                        BallStates.GREEN,
+                        BallStates.PURPLE
+                };
+                break;
+
+            default: // GPP
+                target = new BallStates[]{
+                        BallStates.GREEN,
+                        BallStates.PURPLE,
+                        BallStates.PURPLE
+                };
+        }
+
+        int[] order = new int[3];
+        boolean[] used = new boolean[3];
+
+        // first pass: exact color matches
+        for (int i = 0; i < 3; i++) {
+
+            order[i] = -1;
+
+            for (int slot = 0; slot < 3; slot++) {
+
+                if (!used[slot]
+                        && loaded[slot] == target[i]) {
+
+                    order[i] = slot;
+                    used[slot] = true;
+                    break;
+                }
+            }
+        }
+
+        // second pass: fill leftovers
+        for (int i = 0; i < 3; i++) {
+
+            if (order[i] != -1)
+                continue;
+
+            for (int slot = 0; slot < 3; slot++) {
+
+                if (!used[slot]) {
+                    order[i] = slot;
+                    used[slot] = true;
+                    break;
+                }
+            }
+        }
+
+        return order;
+    }
+
+    private void moveToSlot(int slot) {
+
+        switch (slot) {
+
+            case 0:
+                robot.setSpinPos(
+                        ServoPositions.spindexer_A1
+                );
+                break;
+
+            case 1:
+                robot.setSpinPos(
+                        ServoPositions.spindexer_A2
+                );
+                break;
+
+            case 2:
+                robot.setSpinPos(
+                        ServoPositions.spindexer_A3
+                );
+                break;
+        }
+    }
+
+    public enum SortedIntakeStates {
+        NOTHING,
+        IDLE,
+        INTAKE_1,
+        DELAY_1,
+        INTAKE_2,
+        DELAY_2,
+        INTAKE_3,
+        REVERSE,
+
+    }
 
     public enum SpindexerMode {
         RAPID,
-        SORTED
+        SORTED,
+        SHOOT_SORTED
+    }
+
+    public enum BallStates {
+        GREEN,
+        PURPLE,
+        UNKNOWN
     }
 
     public enum RapidMode {
@@ -34,12 +201,36 @@ public class SpindexerTransferIntake {
 
     private SpindexerMode mode = SpindexerMode.RAPID;
     private RapidMode rapidMode = RapidMode.INTAKE;
+    private SortedIntakeStates sortedIntakeStates = SortedIntakeStates.IDLE;
+    private BallStates[] ballColors = {BallStates.UNKNOWN, BallStates.UNKNOWN, BallStates.UNKNOWN};
+    private final double greenThresh = 0.39;
+    private final double spinMovementTime = 250;
 
     /**
      * Time when current state was entered.
      */
     private long stateStartTime = System.currentTimeMillis();
+    private long sortedStateStartTime = System.currentTimeMillis();
 
+    public void setDesiredPattern(DesiredPattern pattern) {
+        desiredPattern = pattern;
+    }
+
+    public void startSortedShoot() {
+
+        shootOrder = buildShootOrder(
+                ballColors,
+                desiredPattern
+        );
+
+        setShootState(
+                SortedShootState.IDLE
+        );
+
+        setSpindexerMode(
+                SpindexerMode.SHOOT_SORTED
+        );
+    }
     public void setRapidMode(RapidMode newMode) {
         if (rapidMode != newMode) {
             rapidMode = newMode;
@@ -47,11 +238,18 @@ public class SpindexerTransferIntake {
         }
     }
 
+    public void setSortedIntakeMode(SortedIntakeStates newMode) {
+        if (sortedIntakeStates != newMode) {
+            sortedIntakeStates = newMode;
+            sortedStateStartTime = System.currentTimeMillis();
+        }
+    }
+
     public void setSpindexerMode(SpindexerMode spindexerMode) {
         this.mode = spindexerMode;
     }
 
-    public RapidMode getRapidState(){
+    public RapidMode getRapidState() {
         return this.rapidMode;
     }
 
@@ -59,8 +257,27 @@ public class SpindexerTransferIntake {
         return System.currentTimeMillis() - stateStartTime;
     }
 
+    private long sortedStateTime() {
+        return System.currentTimeMillis() - sortedStateStartTime;
+    }
+
     public void update() {
 
+        TELE.addData("Sorted State", sortedIntakeStates);
+        TELE.addData("Ball0", ballColors[0]);
+        TELE.addData("Ball1", ballColors[1]);
+        TELE.addData("Ball2", ballColors[2]);
+
+        TELE.addData("Shoot0", shootOrder[0]);
+        TELE.addData("Shoot1", shootOrder[1]);
+        TELE.addData("Shoot2", shootOrder[2]);
+
+        TELE.addData("Color0", ballColors[0]);
+        TELE.addData("Color1", ballColors[1]);
+        TELE.addData("Color2", ballColors[2]);
+
+        TELE.addData("Shoot State", shootState);
+        
         switch (mode) {
 
             case RAPID:
@@ -74,13 +291,13 @@ public class SpindexerTransferIntake {
                     case INTAKE:
 
                         robot.setIntakePower(1);
-                        robot.setTransferPower(1);
                         robot.setRapidFireBlockerPos(
                                 ServoPositions.rapidFireBlocker_Closed
                         );
                         robot.setSpinPos(
                                 ServoPositions.spindexer_A2
                         );
+                        robot.setTransferPower(-0.7);
                         robot.setTransferServoPos(
                                 ServoPositions.transferServo_out
                         );
@@ -95,11 +312,10 @@ public class SpindexerTransferIntake {
 
                     case TRANSFER_OFF:
 
-                        robot.setTransferPower(0.3);
-
                         if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed()) {
                             setRapidMode(RapidMode.BEFORE_PULSE_OUT);
                         }
+                        robot.setTransferPower(-0.3);
 
                         break;
 
@@ -145,9 +361,6 @@ public class SpindexerTransferIntake {
 
                             robot.setIntakePower(1);
                         }
-
-
-
                         break;
 
                     case OPEN_GATE:
@@ -160,6 +373,12 @@ public class SpindexerTransferIntake {
                             setRapidMode(RapidMode.SHOOT);
                         }
 
+                        if (Shooter.manualFlywheel) {
+                            robot.setTransferPower(NewShooterTest.transferPower);
+                        } else {
+                            robot.setTransferPower(commander.getTransferPow());
+                        }
+
                         break;
 
                     case SHOOT:
@@ -170,13 +389,303 @@ public class SpindexerTransferIntake {
                         if (stateTime() >= 400) {
                             setRapidMode(RapidMode.INTAKE);
                         }
+
+                        if (Shooter.manualFlywheel) {
+                            robot.setTransferPower(NewShooterTest.transferPower);
+                        } else {
+                            robot.setTransferPower(commander.getTransferPow());
+                        }
+
                         break;
                 }
                 break;
 
             case SORTED:
 
-                // Future sorted-intake logic
+                switch (sortedIntakeStates) {
+                    case NOTHING:
+                        break;
+                    case IDLE:
+                        ballColors[0] = BallStates.UNKNOWN;
+                        ballColors[1] = BallStates.UNKNOWN;
+                        ballColors[2] = BallStates.UNKNOWN;
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Open
+                        );
+                        robot.setSpindexBlockerPos(
+                                ServoPositions.spindexBlocker_Closed
+                        );
+                        robot.setSpinPos(
+                                ServoPositions.spindexer_A1
+                        );
+                        robot.setTransferServoPos(
+                                ServoPositions.transferServo_out
+                        );
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-1);
+                        if (sortedStateTime() > 200) {
+                            setSortedIntakeMode(SortedIntakeStates.INTAKE_1);
+                        }
+                        break;
+                    case INTAKE_1:
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-1);
+                        if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+                            //TODO: ADD DELAY OR AVERGE @ DANIEL
+                            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+                            if ((revColor.green / (revColor.red + revColor.blue + revColor.green)) > greenThresh) {
+                                ballColors[0] = BallStates.GREEN;
+                            } else {
+                                ballColors[0] = BallStates.PURPLE;
+                            }
+                            robot.setSpinPos(ServoPositions.spindexer_A2);
+                            setSortedIntakeMode(SortedIntakeStates.DELAY_1);
+                        }
+                        break;
+                    case DELAY_1:
+                        robot.setSpinPos(ServoPositions.spindexer_A2);
+                        if (sortedStateTime() > spinMovementTime) {
+                            setSortedIntakeMode(SortedIntakeStates.INTAKE_2);
+                        }
+                        break;
+                    case INTAKE_2:
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-1);
+                        if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+                            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+                            if ((revColor.green / (revColor.red + revColor.blue + revColor.green)) > greenThresh) {
+                                ballColors[1] = BallStates.GREEN;
+                            } else {
+                                ballColors[1] = BallStates.PURPLE;
+                            }
+                            robot.setSpinPos(ServoPositions.spindexer_A3);
+                            setSortedIntakeMode(SortedIntakeStates.DELAY_2);
+                        }
+                        break;
+                    case DELAY_2:
+
+                        robot.setSpinPos(
+                                ServoPositions.spindexer_A3
+                        );
+
+                        if (sortedStateTime() > spinMovementTime) {
+                            setSortedIntakeMode(
+                                    SortedIntakeStates.INTAKE_3
+                            );
+                        }
+
+                        break;
+                    case INTAKE_3:
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-1);
+                        if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+                            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+                            if ((revColor.green / (revColor.red + revColor.blue + revColor.green)) > greenThresh) {
+                                ballColors[2] = BallStates.GREEN;
+                            } else {
+                                ballColors[2] = BallStates.PURPLE;
+                            }
+                            setSortedIntakeMode(SortedIntakeStates.REVERSE);
+
+                        }
+                        break;
+                    case REVERSE:
+                        robot.setTransferPower(-0.3);
+                        robot.setIntakePower(-0.1);
+                }
+
+
+                break;
+            case SHOOT_SORTED:
+
+                robot.setTransferPower(commander.getTransferPow());
+
+
+                switch (shootState) {
+                    case IDLE:
+                        shootOrder = buildShootOrder(
+                                ballColors,
+                                desiredPattern
+                        );
+
+                        setShootState(SortedShootState.MOVE_TO_1);
+                        mode = SpindexerMode.SHOOT_SORTED;
+                        break;
+                    case MOVE_TO_1:
+
+                        moveToSlot(shootOrder[0]);
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Open
+                        );
+                        robot.setSpindexBlockerPos(
+                                ServoPositions.spindexBlocker_Closed
+                        );
+
+
+                        setShootState(
+                                SortedShootState.WAIT_FOR_1
+                        );
+
+                        break;
+                    case WAIT_FOR_1:
+
+                        if (shootStateTime() > 250) {
+
+                            setShootState(
+                                    SortedShootState.SHOOT_1
+                            );
+                        }
+
+                        break;
+
+                    case SHOOT_1:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+                        robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+
+                        if (shootStateTime() > 300) {
+
+                            setShootState(
+                                    SortedShootState.RETRACT_1
+                            );
+                        }
+
+                        break;
+                    case RETRACT_1:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Closed);
+                        robot.setTransferServoPos(ServoPositions.transferServo_out);
+
+                        if (shootStateTime() > 150) {
+
+                            setShootState(
+                                    SortedShootState.MOVE_TO_2
+                            );
+                        }
+
+                        break;
+                    case MOVE_TO_2:
+
+                        moveToSlot(shootOrder[1]);
+
+                        setShootState(
+                                SortedShootState.WAIT_FOR_2
+                        );
+
+                        break;
+                    case WAIT_FOR_2:
+
+                        if (shootStateTime() > 250) {
+
+                            setShootState(
+                                    SortedShootState.SHOOT_2
+                            );
+                        }
+
+                        break;
+                    case SHOOT_2:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+                        robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+                        if (shootStateTime() > 300) {
+
+                            setShootState(
+                                    SortedShootState.RETRACT_2
+                            );
+                        }
+
+                        break;
+                    case RETRACT_2:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Closed);
+                        robot.setTransferServoPos(ServoPositions.transferServo_out);
+
+
+                        if (shootStateTime() > 150) {
+
+                            setShootState(
+                                    SortedShootState.MOVE_TO_3
+                            );
+                        }
+
+                        break;
+                    case MOVE_TO_3:
+
+                        moveToSlot(shootOrder[2]);
+
+                        setShootState(
+                                SortedShootState.WAIT_FOR_3
+                        );
+
+                        break;
+                    case WAIT_FOR_3:
+
+                        if (shootStateTime() > 250) {
+
+                            setShootState(
+                                    SortedShootState.SHOOT_3
+                            );
+                        }
+
+                        break;
+                    case SHOOT_3:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+                        robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+                        if (shootStateTime() > 300) {
+
+                            setShootState(
+                                    SortedShootState.RETRACT_3
+                            );
+                        }
+
+                        break;
+                    case RETRACT_3:
+
+                        robot.setTransferServoPos(ServoPositions.transferServo_out);
+
+                        if (shootStateTime() > 150) {
+
+                            setShootState(
+                                    SortedShootState.DONE
+                            );
+                        }
+
+                        break;
+                    case DONE:
+
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Open
+                        );
+                        robot.setSpindexBlockerPos(
+                                ServoPositions.spindexBlocker_Closed
+                        );
+                        robot.setSpinPos(
+                                ServoPositions.spindexer_A1
+                        );
+                        robot.setTransferServoPos(
+                                ServoPositions.transferServo_out
+                        );
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-1);
+
+                        if (shootStateTime() > 250) {
+
+                            setSortedIntakeMode(
+                                    SortedIntakeStates.IDLE
+                            );
+
+                            mode = SpindexerMode.SORTED;
+                        }
+
+                        break;
+
+                }
+
+
                 break;
         }
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java

@@ -83,7 +83,7 @@ public class Turret {
         robot.setTurretPos(pos);
 
     }
-
+    // 1.545
 
     public void trackGoal(double dx, double dy, double h, double hVel, double xVel, double xAcc, double yVel, double yAcc) {
         // dx, dy, dz is target - robot

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java

@@ -1,34 +1,117 @@
 package org.firstinspires.ftc.teamcode.utilsv2;
 
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
 public class VelocityCommander {
-    private final double goalH = 20.0; //TODO: Tune
-    private final double xVelK = 0; // TODO: Tune
-    private final double xAccK = 0; // TODO: Tune
-    private final double yVelK = 0; // TODO: Tune
-    private final double yAccK = 0; // TODO: Tune
+    public static double xVelK = 0.05; // TODO: Tune
+    public static double xAccK = 0.025; // TODO: Tune
+    public static double yVelK = 0.05; // TODO: Tune
+    public static double yAccK = 0.025; // TODO: Tune
+    private double hoodPos = 0.88;
+    private double transferPow = -1;
+    private double velo = 0;
 
-    public VelocityCommander() {
-
-    }
+    public VelocityCommander() {}
 
+    private final double veloA = -2.703087757*Math.pow(10, -14);
+    private final double veloB = 2.904756341*Math.pow(10, -11);
+    private final double veloC = -1.381814293*Math.pow(10, -8);
+    private final double veloD = 0.000003829224585;
+    private final double veloE = -0.000684090204;
+    private final double veloF = 0.0822754689;
+    private final double veloG = -6.743119277;
+    private final double veloH = 371.7359504;
+    private final double veloI = -13189.70958;
+    private final double veloJ = 272005.7124;
+    private final double veloK = -2474581.713;
     private double distToRPM (double dist){
-        return Math.sqrt(dist*dist + goalH*goalH);
-        //TODO: Add regression here using goalH
+        if (dist < 49) {
+            velo = 2000;
+        } else if (dist > 165){
+            velo = 3760;
+        } else {
+            velo = veloA*Math.pow(dist, 10) +
+                    veloB*Math.pow(dist, 9) +
+                    veloC*Math.pow(dist, 8) +
+                    veloD*Math.pow(dist, 7) +
+                    veloE*Math.pow(dist, 6) +
+                    veloF*Math.pow(dist, 5) +
+                    veloG*Math.pow(dist, 4) +
+                    veloH*Math.pow(dist, 3) +
+                    veloI*Math.pow(dist, 2) +
+                    veloJ*Math.pow(dist, 1) +
+                    veloK;
+            velo = Math.max(2000, Math.min(3760, velo));
+        }
+        return velo;
     }
 
+    private final double hoodA = -4.3276177*Math.pow(10, -13);
+    private final double hoodB = 2.68062979*Math.pow(10, -10);
+    private final double hoodC = -7.12859632*Math.pow(10, -8);
+    private final double hoodD = 0.0000106010785;
+    private final double hoodE = -0.000960693973;
+    private final double hoodF = 0.0540375808;
+    private final double hoodG = -1.82724027;
+    private final double hoodH = 33.4797545;
+    private final double hoodI = -246.888632;
+    private void distToHood (double dist){
+        if (dist > 112){
+            hoodPos = 0.35;
+        } else if (dist < 49){
+            hoodPos = 0.88;
+        } else {
+            hoodPos = hoodA*Math.pow(dist, 8) +
+                    hoodB*Math.pow(dist, 7) +
+                    hoodC*Math.pow(dist, 6) +
+                    hoodD*Math.pow(dist, 5) +
+                    hoodE*Math.pow(dist, 4) +
+                    hoodF*Math.pow(dist, 3) +
+                    hoodG*Math.pow(dist, 2) +
+                    hoodH*Math.pow(dist, 1) +
+                    hoodI;
+
+            hoodPos = Math.max(0.35, Math.min(0.88, hoodPos));
+        }
+    }
+    public double getHoodPredicted(){
+        return hoodPos;
+    }
+
+    private void distToTransferPow(double dist, double voltage){
+        if (dist < 118){
+            transferPow = -1;
+        } else if (dist < 125){
+            transferPow = -0.7;
+        } else {
+            transferPow = -0.5;
+        }
+
+//        transferPow = Math.max(-0.5, Math.min(-1, transferPow * (14/voltage)));
+    }
+    public double getTransferPow(){return transferPow;}
+
+    // 27
     public double getVeloStationary (double distance){
         return distToRPM(distance);
     }
 
-    public double getVeloPredictive(double dx, double dy, double xVel, double xAcc, double yVel, double yAcc) {
+    double predictedDist = 0;
+    public void getVeloPredictive(double dx, double dy, double xVel, double xAcc, double yVel, double yAcc, double voltage) {
 
         double predictedDx = dx - (xVel * xVelK) - (0.5 * xAcc * xAccK); // Negative bc dx = target - robot
         double predictedDy = dy - (yVel * yVelK) - (0.5 * yAcc * yAccK);  // Negative bc dy = target - robot
 
-        double predictedDist = Math.sqrt(dx*dx + dy*dy);
+        double goalHeight = 28;
+        predictedDist = Math.sqrt(predictedDx*predictedDx + predictedDy*predictedDy + goalHeight * goalHeight);
 
-        return distToRPM(predictedDist);
+        distToHood(predictedDist);
+        distToTransferPow(predictedDist, voltage);
+        distToRPM(predictedDist);
     }
 
+    public double getPredictedRPM(){return velo;}
 
+    public double getDistance(){return predictedDist;}
 }