Add Targeting Class with initial values that still need tuning. Connect Targeting Class to TeleOpV3. Clean up unused code in Flywheel class.

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

@@ -710,7 +710,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 bearing = result.getTx();
             }
         }
-        double turretPos = robot.turr1Pos.getCurrentPosition() - (bearing / 1300);
+        double turretPos = (bearing / 1300);
         robot.turr1.setPosition(turretPos);
         robot.turr2.setPosition(1 - turretPos);
     }

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

@@ -42,4 +42,8 @@ public class ServoPositions {
     public static double turret_detectBlueClose = 0.6;
     public static double turrDefault = 0.4;
 
+    public static double turrMin = 0.2;
+    public static double turrMax = 0.8;
+
+
 }

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

@@ -33,6 +33,7 @@ import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -53,6 +54,8 @@ public class TeleopV3 extends LinearOpMode {
     public static boolean manualTurret = true;
     public double vel = 3000;
     public boolean autoVel = true;
+    public boolean targetingVel = true;
+    public boolean targetingHood = true;
     public double manualOffset = 0.0;
     public boolean autoHood = true;
     public boolean green1 = false;
@@ -72,6 +75,8 @@ public class TeleopV3 extends LinearOpMode {
     Flywheel flywheel;
     MecanumDrive drive;
     Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
     double autoHoodOffset = 0.0;
 
     int shooterTicker = 0;
@@ -146,18 +151,20 @@ public class TeleopV3 extends LinearOpMode {
         flywheel = new Flywheel(hardwareMap);
         drive = new MecanumDrive(hardwareMap, teleStart);
         spindexer = new Spindexer(hardwareMap);
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0,0.0);
 
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
         tController.setTolerance(0.001);
+//
+//        if (redAlliance) {
+//            robot.limelight.pipelineSwitch(3);
+//        } else {
+//            robot.limelight.pipelineSwitch(2);
+//        }
 
-        if (redAlliance) {
-            robot.limelight.pipelineSwitch(3);
-        } else {
-            robot.limelight.pipelineSwitch(2);
-        }
-
-        robot.limelight.start();
+//        robot.limelight.start();
 
         waitForStart();
         if (isStopRequested()) return;
@@ -402,13 +409,14 @@ public class TeleopV3 extends LinearOpMode {
                 pos = 0.83;
             }
 
-            //SHOOTER:
 
-            flywheel.manageFlywheel(vel);
+            targetingSettings = targeting.calculateSettings
+                    (robotX,robotY,robotHeading,0.0);
 
             //VELOCITY AUTOMATIC
-
-            if (autoVel) {
+            if (targetingVel) {
+                vel = targetingSettings.flywheelRPM;
+            } else if (autoVel) {
                 vel = velPrediction(distanceToGoal);
             } else {
                 vel = manualVel;
@@ -430,32 +438,35 @@ public class TeleopV3 extends LinearOpMode {
                 manualVel = 3100;
             }
 
+            //SHOOTER:
+            flywheel.manageFlywheel(vel);
+
             //TODO: test the camera teleop code
 
             TELE.addData("posS2", pos);
 
-            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
-                double bearing;
-
-                LLResult result = robot.limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        bearing = result.getTx() * bMult;
-
-                        double bearingCorrection = bearing / bDiv;
-
-                        error += bearingCorrection;
-
-                        camTicker++;
-                        TELE.addData("tx", bearingCorrection);
-                        TELE.addData("ty", result.getTy());
-                    }
-                }
-
-            } else {
-                camTicker = 0;
-                overrideTurr = false;
-            }
+//            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
+//                double bearing;
+//
+//                LLResult result = robot.light.getLatestResult();
+//                if (result != null) {
+//                    if (result.isValid()) {
+//                        bearing = result.getTx() * bMult;
+//
+//                        double bearingCorrection = bearing / bDiv;
+//
+//                        error += bearingCorrection;
+//
+//                        camTicker++;
+//                        TELE.addData("tx", bearingCorrection);
+//                        TELE.addData("ty", result.getTy());
+//                    }
+//                }
+//
+//            } else {
+//                camTicker = 0;
+//                overrideTurr = false;
+//            }
 
             if (!overrideTurr) {
                 turretPos = pos;
@@ -480,7 +491,9 @@ public class TeleopV3 extends LinearOpMode {
 
             //HOOD:
 
-            if (autoHood) {
+            if (targetingHood) {
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+            } else if (autoHood) {
                 robot.hood.setPosition(0.15 + hoodOffset);
             } else {
                 robot.hood.setPosition(hoodDefaultPos + hoodOffset);
@@ -845,16 +858,27 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
+            // Spindexer Debug
             TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
             TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
             TELE.addData("spinIntakeState", spindexer.currentIntakeState);
             TELE.addData("spinTestCounter", spindexer.counter);
             TELE.addData("autoSpintake", autoSpintake);
-            TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
-            TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
-            TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
+            //TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
+            //TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
+            //TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
             TELE.addData("shootall commanded", shootAll);
+            // Targeting Debug
+            TELE.addData("robotX", robotX);
+            TELE.addData( "robotY", robotY);
+            TELE.addData("robotInchesX", targeting.robotInchesX);
+            TELE.addData( "robotInchesY", targeting.robotInchesY);
+            TELE.addData("Targeting GridX", targeting.robotGridX);
+            TELE.addData("Targeting GridY", targeting.robotGridY);
+            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
             TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+
             TELE.update();
 
             ticker++;

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

@@ -52,7 +52,6 @@ public class PIDServoTest extends LinearOpMode {
             }
 
             telemetry.addData("pos", pos);
-            telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
             telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
             telemetry.addData("target", target);
             telemetry.addData("Mode", mode);

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

@@ -0,0 +1,42 @@
+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.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Autonomous
+@Config
+public class TurretTest extends LinearOpMode {
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot robot = new Robot(hardwareMap);
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        AprilTagWebcam webcam = new AprilTagWebcam();
+        webcam.init(robot, TELE);
+
+        Turret turret = new Turret(robot, TELE, webcam);
+        waitForStart();
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(10, 0,0));
+
+        while(opModeIsActive()){
+
+            drive.updatePoseEstimate();
+            turret.trackGoal(drive.localizer.getPose());
+        }
+
+    }
+}

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

@@ -1,22 +1,13 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
-import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 
 public class Flywheel {
     Robot robot;
-    MultipleTelemetry TELE;
-
-    double initPos = 0.0;
-    double stamp = 0.0;
-    double stamp1 = 0.0;
-    double ticker = 0.0;
-    double currentPos = 0.0;
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
     double velo1 = 0.0;
     double velo2 = 0.0;
@@ -25,6 +16,10 @@ public class Flywheel {
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
+        shooterPIDF1 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+        shooterPIDF2 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
     }
 
     public double getVelo () {
@@ -48,10 +43,6 @@ public class Flywheel {
         robot.shooterPIDF.d = d;
         robot.shooterPIDF.f = f;
     }
-    private double getTimeSeconds ()
-    {
-        return (double) System.currentTimeMillis()/1000.0;
-    }
 
     // Convert from RPM to Ticks per Second
     private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
@@ -62,13 +53,14 @@ public class Flywheel {
     public double manageFlywheel(double commandedVelocity) {
         targetVelocity = commandedVelocity;
 
-        // Turn PIDF for Target Velocities
+        // Add code here to set PIDF based on desired RPM
         //robot.shooterPIDF.p = P;
         //robot.shooterPIDF.i = I;
         //robot.shooterPIDF.d = D;
         //robot.shooterPIDF.f = F;
-        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
-        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
         robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
         robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
 

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

@@ -71,7 +71,6 @@ public class PositionalServoProgrammer extends LinearOpMode {
             TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
             TELE.addData("hood pos", robot.hood.getPosition());
             TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
-            TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
             TELE.addData("spindexer pow", robot.spin1.getPower());
             TELE.update();
         }

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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -14,10 +15,13 @@ import com.qualcomm.robotcore.hardware.Servo;
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
+@Config
 public class Robot {
 
     //Initialize Public Components
 
+    public static boolean usingLimelight = false;
+    public static boolean usingCamera = true;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -29,7 +33,6 @@ public class Robot {
     public double shooterPIDF_I = 0.6;
     public double shooterPIDF_D = 5.0;
     public double shooterPIDF_F = 10.0;
-
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
@@ -41,7 +44,7 @@ public class Robot {
     public CRServo spin2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
-    public DcMotorEx turr1Pos;
+    public AnalogInput turr1Pos;
     public AnalogInput transferServoPos;
     public AprilTagProcessor aprilTagProcessor;
     public WebcamName webcam;
@@ -50,10 +53,6 @@ public class Robot {
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
 
-    public static boolean usingLimelight = true;
-
-    public static boolean usingCamera = true;
-
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
@@ -89,7 +88,7 @@ public class Robot {
 
         turr2 = hardwareMap.get(Servo.class, "t2");
 
-        turr1Pos = intake; // Encoder of turret plugged in intake port
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
 
         //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
         spin1 = hardwareMap.get(CRServo.class, "spin1");

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

@@ -44,17 +44,15 @@ public class Servos {
     }
 
     public double getTurrPos() {
-        return (double) ((double) robot.turr1Pos.getCurrentPosition() / 1024.0) * ((double) 44.0 / (double) 77.0);
+        return 1.0;
 
     }
 
     public double setTurrPos(double pos) {
-        turretPID.setPIDF(turrP, turrI, turrD, turrF);
-
-        return spinPID.calculate(this.getTurrPos(), pos);
+        return 1.0;
     }
 
     public boolean turretEqual(double pos) {
-        return Math.abs(pos - this.getTurrPos()) < 0.01;
+        return true;
     }
 }

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

@@ -9,12 +9,17 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Targeting {
     MultipleTelemetry TELE;
 
-    double unitConversionFactor = 1.02;
+    double cancelOffsetX = 7.071067811;
+    double cancelOffsetY = 7.071067811;
+    double unitConversionFactor = 0.95;
 
     int tileSize = 24; //inches
 
+    public double robotInchesX, robotInchesY = 0.0;
+
     public int robotGridX, robotGridY = 0;
 
+
     public static class Settings {
         public double flywheelRPM = 0.0;
         public double hoodAngle = 0.0;
@@ -32,47 +37,47 @@ public class Targeting {
     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);
+        KNOWNTARGETING[0][0] = new Settings (3000.0, 0.25);
+        KNOWNTARGETING[0][1] = new Settings (3001.0, 0.25);
+        KNOWNTARGETING[0][2] = new Settings (3002.0, 0.25);
+        KNOWNTARGETING[0][3] = new Settings (3302.0, 0.2);
+        KNOWNTARGETING[0][4] = new Settings (3503.0, 0.15);
+        KNOWNTARGETING[0][5] = new Settings (3505.0, 0.15);
         // 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);
+        KNOWNTARGETING[1][0] = new Settings (3010.0, 0.25);
+        KNOWNTARGETING[1][1] = new Settings (3011.0, 0.25);
+        KNOWNTARGETING[1][2] = new Settings (3012.0, 0.25);
+        KNOWNTARGETING[1][3] = new Settings (3313.0, 0.15);
+        KNOWNTARGETING[1][4] = new Settings (3514.0, 0.15);
+        KNOWNTARGETING[1][5] = new Settings (3515.0, 0.15);
         // 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);
+        KNOWNTARGETING[2][0] = new Settings (3020.0, 0.1);
+        KNOWNTARGETING[2][1] = new Settings (3000.0, 0.25);
+        KNOWNTARGETING[2][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[2][4] = new Settings (3524.0, 0.15);
+        KNOWNTARGETING[2][5] = new Settings (3525.0, 0.15);
         // 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);
+        KNOWNTARGETING[3][0] = new Settings (3030.0, 0.15);
+        KNOWNTARGETING[3][1] = new Settings (3031.0, 0.15);
+        KNOWNTARGETING[3][2] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][3] = new Settings (3000.0, 0.15);
+        KNOWNTARGETING[3][4] = new Settings (3000.0, 0.03);
+        KNOWNTARGETING[3][5] = new Settings (3535.0, 0.1);
         // 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);
+        KNOWNTARGETING[4][0] = new Settings (4540.0, 0.1);
+        KNOWNTARGETING[4][1] = new Settings (4541.0, 0.1);
+        KNOWNTARGETING[4][2] = new Settings (4542.0, 0.1);
+        KNOWNTARGETING[4][3] = new Settings (4543.0, 0.1);
+        KNOWNTARGETING[4][4] = new Settings (4544.0, 0.1);
+        KNOWNTARGETING[4][5] = new Settings (4545.0, 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);
+        KNOWNTARGETING[5][0] = new Settings (4550.0, 0.1);
+        KNOWNTARGETING[5][1] = new Settings (4551.0, 0.1);
+        KNOWNTARGETING[5][2] = new Settings (4552.0, 0.1);
+        KNOWNTARGETING[5][3] = new Settings (4553.0, 0.1);
+        KNOWNTARGETING[5][4] = new Settings (4554.0, 0.1);
+        KNOWNTARGETING[5][5] = new Settings (4555.0, 0.1);
     }
 
     public Targeting()
@@ -82,19 +87,25 @@ public class Targeting {
     public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity) {
         Settings recommendedSettings = new Settings(0.0, 0.0);
 
+        double cos45 = Math.cos(Math.toRadians(-45));
+        double sin45 = Math.sin(Math.toRadians(-45));
+        double rotatedY = (robotX -40.0) * sin45 + (robotY +7.0) * cos45;
+        double rotatedX = (robotX -40.0) * cos45 - (robotY +7.0) * sin45;
+
         // Convert robot coordinates to inches
-        double robotInchesX = robotX * unitConversionFactor;
-        double robotInchesY = robotY * unitConversionFactor;
+        robotInchesX = rotatedX * unitConversionFactor;
+        robotInchesY = rotatedY * unitConversionFactor;
 
         // Find approximate location in the grid
-        robotGridX = Math.floorDiv((int) robotInchesX, tileSize);
-        robotGridY = Math.floorDiv((int) robotInchesY, tileSize);
+        robotGridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) +1);
+        robotGridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
         // Use Grid Location to perform lookup
         // Keep it simple for now but may want to interpolate results
+        if ((robotGridY < 6) && (robotGridX <6)) {
             recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
             recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
-
+        }
         return recommendedSettings;
     }
 }

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

@@ -0,0 +1,142 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Config
+public class Turret {
+
+    public static double turretTolerance = 0.02;
+    public static double turrPosScalar = 1.009;
+    public static double turret180Range = 0.6;
+    public static double turrDefault = 0.4;
+    public static double cameraBearingEqual = 1.5;
+    public static double errorLearningRate = 2;
+    public static double turrMin = 0.2;
+    public static double turrMax = 0.8;
+    Robot robot;
+    MultipleTelemetry TELE;
+    AprilTagWebcam webcam;
+    private int obeliskID = 0;
+    private double turrPos = 0.0;
+    private double offset = 0.0;
+    private double bearing = 0.0;
+
+    public Turret(Robot rob, MultipleTelemetry tele, AprilTagWebcam cam) {
+        this.TELE = tele;
+        this.robot = rob;
+        this.webcam = cam;
+    }
+
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3);
+
+    }
+
+    public void manualSetTurret(double pos){
+        robot.turr1.setPosition(pos);
+        robot.turr2.setPosition(1-pos);
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
+    }
+
+    public double getBearing() {
+        if (redAlliance) {
+            AprilTagDetection d24 = webcam.getTagById(24);
+            if (d24 != null) {
+                bearing = d24.ftcPose.bearing;
+                return bearing;
+            } else {
+                return 1000.0;
+            }
+        } else {
+            AprilTagDetection d20 = webcam.getTagById(20);
+            if (d20 != null) {
+                bearing = d20.ftcPose.bearing;
+                return bearing;
+            } else {
+                return 1000.0;
+            }
+        }
+    }
+
+    public int detectObelisk() {
+        AprilTagDetection id21 = webcam.getTagById(21);
+        AprilTagDetection id22 = webcam.getTagById(22);
+        AprilTagDetection id23 = webcam.getTagById(23);
+        if (id21 != null) {
+            obeliskID = 21;
+        } else if (id22 != null) {
+            obeliskID = 22;
+        } else if (id23 != null) {
+            obeliskID = 23;
+        }
+        return obeliskID;
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+    public void update() {
+
+    }
+
+    /*
+        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
+     */
+    public void trackGoal(Pose2d deltaPos) {
+
+        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
+
+        // Angle from robot to goal in robot frame
+        double desiredTurretAngleDeg = Math.toDegrees(
+                Math.atan2(deltaPos.position.y, deltaPos.position.x)
+        );
+
+        // Robot heading (field → robot)
+        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
+
+        // Turret angle needed relative to robot
+        double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
+
+        // Normalize to [-180, 180]
+        while (turretAngleDeg > 180) turretAngleDeg -= 360;
+        while (turretAngleDeg < -180) turretAngleDeg += 360;
+
+        /* ---------------- APRILTAG CORRECTION ---------------- */
+
+        double tagBearingDeg = getBearing();  // + = target is to the left
+
+        if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) < cameraBearingEqual) {
+            // Slowly learn turret offset (persistent calibration)
+            offset -= tagBearingDeg * errorLearningRate;
+        }
+
+        turretAngleDeg += offset;
+
+        /* ---------------- ANGLE → SERVO ---------------- */
+
+        double turretPos = turrDefault + (turretAngleDeg / (turret180Range * 2.0));
+
+        // Clamp to servo range
+        turretPos = Math.max(turrMin, Math.min(turretPos, turrMax));
+
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1.0 - turretPos);
+
+        /* ---------------- TELEMETRY ---------------- */
+
+        TELE.addData("Turret Angle", turretAngleDeg);
+        TELE.addData("Bearing", tagBearingDeg);
+        TELE.addData("Offset", offset);
+    }
+
+}