New Spindexer Positions after repair.

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

@@ -74,7 +74,7 @@ public class Flywheel {
 
         // Record Current Velocity
         velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter1.getVelocity()); // Possible error: should it be shooter2 not shooter1?
         velo = Math.max(velo1,velo2);
 
         // really should be a running average of the last 5

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

@@ -1,100 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-import android.provider.Settings;
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-public class Targeting {
-    MultipleTelemetry TELE;
-
-    double unitConversionFactor = 1.02;
-
-    int tileSize = 24; //inches
-
-    public int robotGridX, robotGridY = 0;
-
-    public static class Settings {
-        public double flywheelRPM = 0.0;
-        public double hoodAngle = 0.0;
-
-        public Settings (double flywheelRPM, double hoodAngle) {
-            this.flywheelRPM = flywheelRPM;
-            this.hoodAngle = hoodAngle;
-        }
-    }
-
-    // Known settings discovered using shooter test.
-    // Keep the fidelity at 1 floor tile for now but we could also half it if more
-    // accuracy is needed.
-    public static final Settings[][] KNOWNTARGETING;
-    static {
-        KNOWNTARGETING = new Settings[6][6];
-        // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[0][1] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[0][2] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[0][3] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[0][4] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[0][5] = new Settings (4500.0, 0.1);
-        // ROW 1
-        KNOWNTARGETING[1][0] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[1][1] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[1][2] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[1][3] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[1][4] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[1][5] = new Settings (4500.0, 0.1);
-        // ROW 2
-        KNOWNTARGETING[2][0] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[2][1] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[2][2] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[2][3] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[2][4] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[2][5] = new Settings (4500.0, 0.1);
-        // ROW 3
-        KNOWNTARGETING[3][0] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[3][1] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[3][2] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[3][3] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[3][4] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[3][5] = new Settings (4500.0, 0.1);
-        // ROW 4
-        KNOWNTARGETING[4][0] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[4][1] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[4][2] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[4][3] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[4][4] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[4][5] = new Settings (4500.0, 0.1);
-        // ROW 1
-        KNOWNTARGETING[5][0] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[5][1] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[5][2] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[5][3] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[5][4] = new Settings (4500.0, 0.1);
-        KNOWNTARGETING[5][5] = new Settings (4500.0, 0.1);
-    }
-
-    public Targeting()
-    {
-    }
-
-    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity) {
-        Settings recommendedSettings = new Settings(0.0, 0.0);
-
-        // Convert robot coordinates to inches
-        double robotInchesX = robotX * unitConversionFactor;
-        double robotInchesY = robotY * unitConversionFactor;
-
-        // Find approximate location in the grid
-        robotGridX = Math.floorDiv((int) robotInchesX, tileSize);
-        robotGridY = Math.floorDiv((int) robotInchesY, tileSize);
-
-        // Use Grid Location to perform lookup
-        // Keep it simple for now but may want to interpolate results
-        recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
-        recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
-
-        return recommendedSettings;
-    }
-}