for daniel

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java

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

@@ -1,751 +0,0 @@
-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.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-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.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-
-import java.util.List;
-
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
-public class AutoClose_V3 extends LinearOpMode {
-    Robot robot;
-    MultipleTelemetry TELE;
-    MecanumDrive drive;
-    FlywheelV2 flywheel;
-    Servos servo;
-
-    double velo = 0.0;
-    public static double intake1Time = 2.7;
-    public static double intake2Time = 3.0;
-    public static double colorDetect = 3.0;
-    boolean gpp = false;
-    boolean pgp = false;
-    boolean ppg = false;
-    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
-    public static double holdTurrPow = 0.1; // power to hold turret in place
-
-    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() {
-            int id = 0;
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                LLResult result = robot.limelight.getLatestResult();
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
-
-                }
-
-                if (id == 21){
-                    gpp = true;
-                } else if (id == 22){
-                    pgp = true;
-                } else if (id == 23){
-                    ppg = true;
-                }
-
-                TELE.addData("Velocity", velo);
-                TELE.addData("21", gpp);
-                TELE.addData("22", pgp);
-                TELE.addData("23", ppg);
-                TELE.update();
-
-                if (gpp || pgp || ppg) {
-                    if (redAlliance){
-                        robot.limelight.pipelineSwitch(3);
-                        double turretPID = turret_redClose;
-                        robot.turr1.setPosition(turretPID);
-                        robot.turr2.setPosition(-turretPID);
-                        return false;
-
-                    } else {
-                        robot.limelight.pipelineSwitch(2);
-                        double turretPID = turret_blueClose;
-                        robot.turr1.setPosition(turretPID);
-                        robot.turr2.setPosition(-turretPID);
-                        return false;
-                    }
-                } else {
-                    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.setPosition(holdTurrPow);
-                    robot.turr2.setPosition(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
-        ));
-
-        robot.limelight.pipelineSwitch(1);
-        robot.limelight.start();
-
-        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 = 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 = 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.setPosition(turrPID);
-            robot.turr2.setPosition(-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() {
-        LLResult result = robot.limelight.getLatestResult();
-        if (result != null) {
-            if (result.isValid()) {
-                bearing = result.getTx();
-            }
-        }
-        double turretPos = servo.getTurrPos() - (bearing / 1300);
-        double turretPID = turretPos;
-        robot.turr1.setPosition(turretPID);
-        robot.turr2.setPosition(-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_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence2() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence3() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence4() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence5() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence6() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-}

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

@@ -1,651 +0,0 @@
-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.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-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.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-
-import java.util.List;
-
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
-public class AutoFar_V1 extends LinearOpMode {
-    Robot robot;
-    MultipleTelemetry TELE;
-    MecanumDrive drive;
-    FlywheelV2 flywheel;
-    Servos servo;
-
-    double velo = 0.0;
-    public static double intake1Time = 2.7;
-    public static double intake2Time = 3.0;
-    public static double colorDetect = 3.0;
-    boolean gpp = false;
-    boolean pgp = false;
-    boolean ppg = false;
-    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
-    public static double holdTurrPow = 0.1; // power to hold turret in place
-
-    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() {
-            int id = 0;
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                LLResult result = robot.limelight.getLatestResult();
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
-
-                }
-
-                if (id == 21){
-                    gpp = true;
-                } else if (id == 22){
-                    pgp = true;
-                } else if (id == 23){
-                    ppg = true;
-                }
-
-                TELE.addData("Velocity", velo);
-                TELE.addData("21", gpp);
-                TELE.addData("22", pgp);
-                TELE.addData("23", ppg);
-                TELE.update();
-
-                if (gpp || pgp || ppg) {
-                    if (redAlliance){
-                        robot.limelight.pipelineSwitch(3);
-                        robot.turr1.setPosition(turret_redFar);
-                        robot.turr2.setPosition(-turret_redFar);
-
-                    } else {
-                        robot.limelight.pipelineSwitch(2);
-
-                        robot.turr1.setPosition(turret_blueFar);
-                        robot.turr2.setPosition(-turret_blueFar);
-
-                    }
-
-                    return false;
-                } else {
-                    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.setPosition(holdTurrPow);
-                    robot.turr2.setPosition(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
-        ));
-
-        robot.limelight.pipelineSwitch(1);
-        robot.limelight.start();
-
-        //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 = turret_detectRedClose;
-            } else {
-                turrPID = turret_detectBlueClose;
-            }
-
-            robot.turr1.setPosition(turrPID);
-            robot.turr2.setPosition(-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() {
-        LLResult result = robot.limelight.getLatestResult();
-        if (result != null) {
-            if (result.isValid()) {
-                bearing = result.getTx();
-            }
-        }
-        double turretPos = servo.getTurrPos() - (bearing / 1300);
-        double turretPID = turretPos;
-        robot.turr1.setPosition(turretPID);
-        robot.turr2.setPosition(-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/Auto_LT_Close_12Ball.java

@@ -0,0 +1,920 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
+import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+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.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Poses_V2;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+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 org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Disabled
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class Auto_LT_Close_12Ball extends LinearOpMode {
+    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
+    public static double autoSpinStartPos = 0.2;
+    public static double shoot0SpinSpeedIncrease = 0.014;
+
+    public static double spindexerSpeedIncrease = 0.02;
+
+    public static double obeliskTurrPos = 0.53;
+    public static double normalIntakeTime = 3.0;
+    public static double shoot1Turr = 0.57;
+    public static double shoot0XTolerance = 1.0;
+    public static double turretShootPos = 0.53;
+    public static double shootAllTime = 1.8;
+    public static double shoot0Time = 1.6;
+    public static double intake1Time = 3.0;
+    public static double flywheel0Time = 3.5;
+    public static double pickup1Speed = 17;
+    // ---- SECOND SHOT / PICKUP ----
+    public static double shoot1Vel = 2300;
+    public static double shoot1Hood = 0.93;
+
+    public static double shootAllVelocity = 2500;
+    public static double shootAllHood = 0.78;
+    // ---- PICKUP TIMING ----
+    public static double pickup1Time = 3.0;
+    // ---- PICKUP POSITION TOLERANCES ----
+    public static double pickup1XTolerance = 2.0;
+    public static double pickup1YTolerance = 2.0;
+    // ---- OBELISK DETECTION ----
+    public static double obelisk1Time = 1.5;
+    public static double obelisk1XTolerance = 2.0;
+    public static double obelisk1YTolerance = 2.0;
+    public static double shoot1ToleranceX = 2.0;
+    public static double shoot1ToleranceY = 2.0;
+    public static double shoot1Time = 2.0;
+    public static double shootCycleTime = 2.5;
+    public int motif = 0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    private double x1, y1, h1;
+
+    private double x2a, y2a, h2a, t2a;
+
+    private double x2b, y2b, h2b, t2b;
+    private double x2c, y2c, h2c, t2c;
+
+    private double x3a, y3a, h3a;
+    private double x3b, y3b, h3b;
+    private double x4a, y4a, h4a;
+    private double x4b, y4b, h4b;
+
+    private double xShoot, yShoot, hShoot;
+    private double xGate, yGate, hGate;
+    private double xPrep, yPrep, hPrep;
+
+    private double shoot1Tangent;
+
+
+    public Action prepareShootAll(double time) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                robot.spin1.setPosition(autoSpinStartPos);
+                robot.spin2.setPosition(1 - autoSpinStartPos);
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                turret.manualSetTurret(turretShootPos);
+
+                robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                return (System.currentTimeMillis() - stamp) < (time * 1000);
+
+            }
+        };
+    }
+
+    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = vel;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+
+            }
+        };
+    }
+
+    public Action shootAllAuto(double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = 0.0;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                robot.intake.setPower(1);
+
+                motif = turret.detectObelisk();
+
+                spindexer.ballCounterLight();
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
+
+            }
+        };
+    }
+
+    public Action detectObelisk(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance,
+            double turrPos
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                motif = turret.detectObelisk();
+
+                robot.turr1.setPosition(turrPos);
+                robot.turr2.setPosition(1 - turrPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheel(
+            double vel,
+            double hoodPos,
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                flywheel.manageFlywheel(vel);
+                robot.hood.setPosition(hoodPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageShooterAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+
+                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                turret.trackGoal(deltaPose);
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheelAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+
+                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        robot.limelight.pipelineSwitch(1);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        turret.manualSetTurret(0.4);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        robot.spin1.setPosition(autoSpinStartPos);
+        robot.spin2.setPosition(1 - autoSpinStartPos);
+
+        robot.transferServo.setPosition(transferServo_out);
+
+        TrajectoryActionBuilder shoot0 = null;
+        TrajectoryActionBuilder pickup1 = null;
+        TrajectoryActionBuilder shoot1 = null;
+        TrajectoryActionBuilder pickup2 = null;
+        TrajectoryActionBuilder shoot2 = null;
+        TrajectoryActionBuilder pickup3 = null;
+        TrajectoryActionBuilder shoot3 = null;
+
+        robot.limelight.start();
+
+        robot.light.setPosition(1);
+
+        while (opModeInInit()) {
+
+            robot.hood.setPosition(shoot0Hood);
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+            }
+
+            if (redAlliance) {
+                robot.light.setPosition(0.28);
+
+                // ---- FIRST SHOT ----
+                x1 = rx1;
+                y1 = ry1;
+                h1 = rh1;
+
+                // ---- PICKUP PATH ----
+                x2a = rx2a;
+                y2a = ry2a;
+                h2a = rh2a;
+                x2b = rx2b;
+                y2b = ry2b;
+                h2b = rh2b;
+                x3a = rx3a;
+                y3a = ry3a;
+                h3a = rh3a;
+                x3b = rx3b;
+                y3b = ry3b;
+                h3b = rh3b;
+                x4a = rx4a;
+                y4a = ry4a;
+                h4a = rh4a;
+                x4b = rx4b;
+                y4b = ry4b;
+                h4b = rh4b;
+                xPrep = rxPrep;
+                yPrep = ryPrep;
+                hPrep = rhPrep;
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+
+
+            } else {
+                robot.light.setPosition(0.6);
+
+                // ---- FIRST SHOT ----
+                x1 = bx1;
+                y1 = by1;
+                h1 = bh1;
+
+                // ---- PICKUP PATH ----
+                x2a = bx2a;
+                y2a = by2a;
+                h2a = bh2a;
+                x2b = bx2b;
+                y2b = by2b;
+                h2b = bh2b;
+                x3a = bx3a;
+                y3a = by3a;
+                h3a = bh3a;
+                x3b = bx3b;
+                y3b = by3b;
+                h3b = bh3b;
+                x4a = bx4a;
+                y4a = by4a;
+                h4a = bh4a;
+                x4b = bx4b;
+                y4b = by4b;
+                h4b = bh4b;
+
+                xPrep = bxPrep;
+                yPrep = byPrep;
+                hPrep = bhPrep;
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+
+            }
+
+            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+
+            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
+                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
+                            new TranslationalVelConstraint(pickup1Speed));
+
+            shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+            pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+                    .strafeToLinearHeading(new Vector2d(x3a, y3a), h3a)
+                    .strafeToLinearHeading(new Vector2d(x3b, y3b), h3b,
+                            new TranslationalVelConstraint(pickup1Speed));
+
+            shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+            pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                    .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
+                    .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
+                            new TranslationalVelConstraint(pickup1Speed));
+            shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+
+
+            TELE.addData("Red?", redAlliance);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.transfer.setPower(1);
+
+            assert shoot0 != null;
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            manageFlywheel(
+                                    shoot0Vel,
+                                    shoot0Hood,
+                                    flywheel0Time,
+                                    x1,
+                                    0.501,
+                                    shoot0XTolerance,
+                                    0.501
+                            )
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            manageFlywheel(
+                                    shootAllVelocity,
+                                    shootAllHood,
+                                    pickup1Time,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(intake1Time)
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheel(
+                                    shootAllVelocity,
+                                    shootAllHood,
+                                    shoot1Time,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot1.build(),
+                            prepareShootAll(shoot1Time)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            manageShooterAuto(
+                                    normalIntakeTime,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(normalIntakeTime)
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheelAuto(
+                                    shootCycleTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot2.build(),
+                            prepareShootAll(shootCycleTime)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup3.build(),
+                            manageShooterAuto(
+                                    normalIntakeTime,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(normalIntakeTime)
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheelAuto(
+                                    shootCycleTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot3.build(),
+                            prepareShootAll(shootCycleTime)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+}

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

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.autonomous;
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
@@ -72,6 +72,7 @@ import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
@@ -81,7 +82,7 @@ import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
 import java.util.List;
-
+@Disabled
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class ProtoAutoClose_V3 extends LinearOpMode {
@@ -182,8 +183,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 velo = flywheel.getVelo();
 
                 spinPID = servo.setSpinPos(spindexer);
-                robot.spin1.setPower(spinPID);
-                robot.spin2.setPower(-spinPID);
+                robot.spin1.setPosition(spinPID);
+                robot.spin2.setPosition(-spinPID);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
@@ -192,8 +193,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 teleStart = drive.localizer.getPose();
 
                 if (servo.spinEqual(spindexer)) {
-                    robot.spin1.setPower(0);
-                    robot.spin2.setPower(0);
+                    robot.spin1.setPosition(0);
+                    robot.spin2.setPosition(0);
 
                     return false;
                 } else {
@@ -203,6 +204,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
         };
     }
 
+
     public Action Shoot(int vel) {
         return new Action() {
             int ticker = 1;
@@ -240,8 +242,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                     robot.transferServo.setPosition(transferServo_in);
 
-                    robot.spin1.setPower(-spinPow);
-                    robot.spin2.setPower(spinPow);
+                    robot.spin1.setPosition(-spinPow);
+                    robot.spin2.setPosition(spinPow);
                     return true;
 
                 } else {
@@ -271,12 +273,12 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 if (ticker % 12 < 6) {
 
-                    robot.spin1.setPower(-1);
-                    robot.spin2.setPower(1);
+                    robot.spin1.setPosition(-1);
+                    robot.spin2.setPosition(1);
 
                 } else {
-                    robot.spin1.setPower(1);
-                    robot.spin2.setPower(-1);
+                    robot.spin1.setPosition(1);
+                    robot.spin2.setPosition(-1);
                 }
 
                 if (getRuntime() - stamp > jamTime+0.4) {
@@ -317,20 +319,20 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 if (ticker % 60 < 12) {
 
-                    robot.spin1.setPower(-1);
-                    robot.spin2.setPower(1);
+                    robot.spin1.setPosition(-1);
+                    robot.spin2.setPosition(1);
 
                 } else if (ticker % 60 < 30) {
-                    robot.spin1.setPower(-0.5);
-                    robot.spin2.setPower(0.5);
+                    robot.spin1.setPosition(-0.5);
+                    robot.spin2.setPosition(0.5);
                 }
                 else if (ticker % 60 < 42) {
-                    robot.spin1.setPower(1);
-                    robot.spin2.setPower(-1);
+                    robot.spin1.setPosition(1);
+                    robot.spin2.setPosition(-1);
                 }
                 else {
-                    robot.spin1.setPower(0.5);
-                    robot.spin2.setPower(-0.5);
+                    robot.spin1.setPosition(0.5);
+                    robot.spin2.setPosition(-0.5);
                 }
                 robot.intake.setPower(1);
                 TELE.addData("Reverse?", reverse);
@@ -338,11 +340,11 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 if (getRuntime() - stamp > intakeTime) {
                     if (reverse) {
-                        robot.spin1.setPower(-1);
-                        robot.spin2.setPower(1);
+                        robot.spin1.setPosition(-1);
+                        robot.spin2.setPosition(1);
                     } else {
-                        robot.spin1.setPower(1);
-                        robot.spin2.setPower(-1);
+                        robot.spin1.setPosition(1);
+                        robot.spin2.setPosition(-1);
                     }
                     return false;
                 } else {
@@ -710,7 +712,7 @@ 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/Color.java

@@ -1,5 +1,11 @@
 package org.firstinspires.ftc.teamcode.constants;
 
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
 public class Color {
     public static boolean redAlliance = true;
+    public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
+
+    public static double colorFilterAlpha = 1;
 }

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

@@ -12,32 +12,44 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
 
-    public static double rx1 = 40, ry1 = -7, rh1 = 0;
+    public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
     public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
-    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140);
+    public static double rx2b = 19, ry2b = 40, rh2b = Math.toRadians(140.1);
 
     public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
 
     public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
-    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
 
-    public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
-    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
+    public static double rx3aG = 60, ry3aG = 34, rh3aG = Math.toRadians(140);
 
-    public static double bx1 = 40, by1 = 7, bh1 = 0;
-    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
-    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
+    public static double rx3b = 36, ry3b = 58, rh3b = Math.toRadians(140.1);
+
+    public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
+    public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
+
+    public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
+    public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
+    public static double bx2b = 19, by2b = -40, bh2b = Math.toRadians(-140.1);
     public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
 
-    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
-    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
+    public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
+    public static double bx3b = 41, by3b = -59, bh3b = Math.toRadians(-140.1);
+    public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140);
 
-    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
-    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
+
+    public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
+    public static double bx4b = 47, by4b = -85, bh4b = Math.toRadians(-140.1);
     public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
 
-    public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
+    public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
+    public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
+
+    public static double bShootX = 40, bShootY = 7, bShootH = Math.toRadians(-50);
+    public static double bxPrep = 45, byPrep = -10, bhPrep = Math.toRadians(-50);
+
+
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
 
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses_V2.java

@@ -0,0 +1,25 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses_V2 {
+
+    public static double goalHeight = 42; //in inches
+
+    public static double turretHeight = 12;
+
+    public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
+
+    public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
+
+    public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
+
+    public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
+    public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
+
+    public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
+
+
+}

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

@@ -5,16 +5,23 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.19;
+    public static double spindexer_intakePos1 = 0.07; //0.13;
 
-    public static double spindexer_intakePos2 = 0.35;//0.5;
+    public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.51;//0.66;
+    public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.47;
+    public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
 
-    public static double spindexer_outtakeBall2 = 0.31;
-    public static double spindexer_outtakeBall1 = 0.15;
+    public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
+    public static double spinStartPos = 0.22;
+    public static double spinEndPos = 0.85;
+
+    public static double shootAllAutoSpinStartPos = 0.2;
+    public static double shootAllSpindexerSpeedIncrease = 0.014;
+    public static double shootAllTime = 1.8;
 
     public static double transferServo_out = 0.15;
 
@@ -26,20 +33,11 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.27;
 
-    public static double hoodAutoFar = 0.5; //TODO: change this;
-
-    public static double hoodHigh = 0.21; //TODO: change this;
-
-    public static double hoodLow = 1.0; //TODO: change this;
+public static double hoodOffset = -0.05;
 
     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_detectRedClose = 0.2;
 
-    public static double turret_detectBlueClose = 0.6;
-    public static double turrDefault = 0.4;
 
 }

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

@@ -21,4 +21,6 @@ public class ShooterVars {
     // VELOCITY CONSTANTS
     public static int AUTO_CLOSE_VEL = 3175; //3300;
     public static int AUTO_FAR_VEL = 4000; //TODO: test this
+
+    public static Types.Motif currentMotif = Types.Motif.NONE;
 }

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

@@ -0,0 +1,10 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+public class Types {
+    public enum Motif {
+        NONE,
+        GPP,  // Green, Purple, Purple
+        PGP,  // Purple, Green, Purple
+        PPG   // Purple, Purple, Green
+    }
+}

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

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.constants;
-
-public class blank {
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/disabled/blank.java

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.disabled;
-
-public class blank {
-}

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

@@ -5,9 +5,7 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.AccelConstraint;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Actions;
+import com.acmerobotics.roadrunner.*;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -16,20 +14,12 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.ProfileParams;
-import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2d;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -56,131 +46,13 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
 
+import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 
 @Config
 public final class MecanumDrive {
-    public static Params PARAMS = new Params();
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-    public final VoltageSensor voltageSensor;
-    public final LazyImu lazyImu;
-    public final Localizer localizer;
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
-        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
-        rightBack = hardwareMap.get(DcMotorEx.class, "br");
-        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
-    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;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
-
     public static class Params {
         // IMU orientation
         // TODO: fill in these values based on
@@ -219,6 +91,35 @@ public final class MecanumDrive {
         public double headingVelGain = 0.0; // shared with turn
     }
 
+    public static Params PARAMS = new Params();
+
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            new MinVelConstraint(Arrays.asList(
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
+            ));
+    public final AccelConstraint defaultAccelConstraint =
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+
+    public final VoltageSensor voltageSensor;
+
+    public final LazyImu lazyImu;
+
+    public final Localizer localizer;
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+
     public class DriveLocalizer implements Localizer {
         public final Encoder leftFront, leftBack, rightBack, rightFront;
         public final IMU imu;
@@ -243,13 +144,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public Pose2d getPose() {
-            return pose;
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
         }
 
         @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
+        public Pose2d getPose() {
+            return pose;
         }
 
         @Override
@@ -315,11 +216,64 @@ public final class MecanumDrive {
         }
     }
 
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private final double[] xPoints, yPoints;
         private double beginTs = -1;
 
+        private final double[] xPoints, yPoints;
+
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
 
@@ -496,4 +450,51 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
+
+    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;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
 }

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

@@ -1,896 +0,0 @@
-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.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.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.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;
-    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;
-    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
-    MecanumDrive drive;
-    double hoodOffset = 0.0;
-    boolean shoot1 = false;
-    // Make these class-level flags
-    boolean shootA = true;
-    boolean shootB = true;
-    boolean shootC = true;
-    boolean manualTurret = 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;
-    private double stamp1, stamp, initPos;
-    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;
-
-    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 {
-
-        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(hardwareMap);
-
-        drive = new MecanumDrive(hardwareMap, teleStart);
-
-        Pose2d shootPos = teleStart;
-
-        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
-
-        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);
-
-
-            //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:
-
-            if (gamepad1.rightBumperWasPressed()) {
-                intake = !intake;
-                reject = false;
-                shootAll = false;
-                emergency = false;
-                overrideTurr = false;
-
-            }
-
-            if (gamepad1.leftBumperWasPressed()) {
-                intake = false;
-                emergency = !emergency;
-
-            }
-
-            if (intake) {
-
-                robot.transferServo.setPosition(transferServo_out);
-
-                robot.intake.setPower(1);
-
-                if ((getRuntime() % 0.3) > 0.15) {
-                    spindexPos = spindexer_intakePos1 + 0.015;
-                } else {
-                    spindexPos = spindexer_intakePos1 - 0.015;
-                }
-
-            } else if (reject) {
-                robot.intake.setPower(-1);
-                spindexPos = spindexer_intakePos1;
-            } else {
-                robot.intake.setPower(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 < 40) {
-
-                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 < 40) {
-
-                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 < 30) {
-
-                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.transfer.setPower(1);
-
-            //TURRET:
-
-            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
-                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;
-
-            }
-
-            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;
-
-            }
-
-            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;
-                }
-            }
-
-            //SHOOT ALL:]
-
-            if (emergency) {
-                intake = false;
-                reject = true;
-
-                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 < 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 (gamepad2.squareWasPressed()) {
-                square = true;
-                shootStamp = getRuntime();
-                shootStamp2 = getRuntime();
-                outtake1 = false;
-                outtake2 = false;
-                outtake3 = false;
-            }
-
-            if (gamepad2.circleWasPressed()) {
-                circle = true;
-                shootStamp = getRuntime();
-                shootStamp2 = getRuntime();
-
-                outtake1 = false;
-                outtake2 = false;
-                outtake3 = false;
-
-            }
-
-            if (gamepad2.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 (gamepad2.rightBumperWasPressed()) {
-                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;
-                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.leftBumperWasPressed()) {
-                emergency = false;
-            }
-
-            //MISC:
-
-            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);
-
-            aprilTagWebcam.update();
-
-            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) {
-        switch (slot) {
-            case 1:
-
-                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/Test.java

@@ -0,0 +1,15 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+@Config
+@TeleOp
+public class Test extends LinearOpMode {
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+    }
+}

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

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.teleop;
-
-public class blank {
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/old.txt

@@ -1,793 +0,0 @@
-package org.firstinspires.ftc.teamcode.teleop;
-
-import static org.firstinspires.ftc.teamcode.constants.Poses.*;
-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.acmerobotics.roadrunner.Pose2d;
-import com.arcrobotics.ftclib.gamepad.GamepadEx;
-import com.arcrobotics.ftclib.gamepad.GamepadKeys;
-import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
-import org.firstinspires.ftc.teamcode.subsystems.Intake;
-import org.firstinspires.ftc.teamcode.subsystems.Shooter;
-import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
-import org.firstinspires.ftc.teamcode.subsystems.Transfer;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-
-@Config
-@TeleOp
-@Disabled
-public class old extends LinearOpMode {
-
-    Robot robot;
-
-    Drivetrain drivetrain;
-
-    Intake intake;
-
-    Spindexer spindexer;
-
-    Transfer transfer;
-
-    MultipleTelemetry TELE;
-
-    GamepadEx g1;
-
-    GamepadEx g2;
-
-    public static double defaultSpeed = 1;
-
-    public static double slowMoSpeed = 0.4;
-
-    public static double power = 0.0;
-
-    public static double pos = hoodDefault;
-
-    public boolean all = false;
-
-    public int ticker = 0;
-
-    ToggleButtonReader g1RightBumper;
-
-    ToggleButtonReader g2Circle;
-
-    ToggleButtonReader g2Square;
-
-    ToggleButtonReader g2Triangle;
-
-    ToggleButtonReader g2RightBumper;
-
-    ToggleButtonReader g1LeftBumper;
-
-    ToggleButtonReader g2LeftBumper;
-
-    ToggleButtonReader g2DpadUp;
-
-    ToggleButtonReader g2DpadDown;
-
-    ToggleButtonReader g2DpadRight;
-
-    ToggleButtonReader g2DpadLeft;
-
-    public boolean leftBumper = false;
-    public double g1RightBumperStamp = 0.0;
-
-    public double g1LeftBumperStamp = 0.0;
-
-    public double g2LeftBumperStamp = 0.0;
-
-    public static int spindexerPos = 0;
-
-    public boolean green = false;
-
-    Shooter shooter;
-
-    public boolean scoreAll = false;
-
-    MecanumDrive drive;
-
-    public boolean autotrack = false;
-
-    public int last = 0;
-    public int second = 0;
-
-    public double offset = 0.0;
-
-    public static double rIn = 0.59;
-
-    public static double rOut = 0;
-
-    public boolean notShooting = true;
-
-    public boolean circle = false;
-
-    public boolean square = false;
-
-    public boolean tri = false;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        drive = new MecanumDrive(hardwareMap, teleStart);
-
-        robot = new Robot(hardwareMap);
-
-        TELE = new MultipleTelemetry(
-                FtcDashboard.getInstance().getTelemetry(),
-                telemetry
-        );
-
-        g1 = new GamepadEx(gamepad1);
-
-        g1RightBumper = new ToggleButtonReader(
-                g1, GamepadKeys.Button.RIGHT_BUMPER
-        );
-
-        g2 = new GamepadEx(gamepad2);
-
-        g1LeftBumper = new ToggleButtonReader(
-                g1, GamepadKeys.Button.LEFT_BUMPER
-        );
-
-        g2Circle = new ToggleButtonReader(
-                g2, GamepadKeys.Button.B
-        );
-
-        g2Triangle = new ToggleButtonReader(
-                g2, GamepadKeys.Button.Y
-        );
-
-        g2Square = new ToggleButtonReader(
-                g2, GamepadKeys.Button.X
-        );
-
-        g2RightBumper = new ToggleButtonReader(
-                g2, GamepadKeys.Button.RIGHT_BUMPER
-        );
-
-        g2LeftBumper = new ToggleButtonReader(
-                g2, GamepadKeys.Button.LEFT_BUMPER
-        );
-
-        g2DpadUp = new ToggleButtonReader(
-                g2, GamepadKeys.Button.DPAD_UP
-        );
-
-        g2DpadDown = new ToggleButtonReader(
-                g2, GamepadKeys.Button.DPAD_DOWN
-        );
-
-        g2DpadLeft = new ToggleButtonReader(
-                g2, GamepadKeys.Button.DPAD_LEFT
-        );
-
-        g2DpadRight = new ToggleButtonReader(
-                g2, GamepadKeys.Button.DPAD_RIGHT
-        );
-
-        drivetrain = new Drivetrain(robot, TELE, g1);
-
-        drivetrain.setMode("Default");
-
-        drivetrain.setDefaultSpeed(defaultSpeed);
-
-        drivetrain.setSlowSpeed(slowMoSpeed);
-
-        intake = new Intake(robot);
-
-        transfer = new Transfer(robot);
-
-        spindexer = new Spindexer(robot, TELE);
-
-        spindexer.setTelemetryOn(true);
-
-        shooter = new Shooter(robot, TELE);
-
-        shooter.setShooterMode("MANUAL");
-
-        robot.rejecter.setPosition(rIn);
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        drive = new MecanumDrive(hardwareMap, teleStart);
-
-        while (opModeIsActive()) {
-
-            drive.updatePoseEstimate();
-
-            TELE.addData("pose", drive.localizer.getPose());
-
-            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
-
-            TELE.addData("off", offset);
-
-            robot.hood.setPosition(pos);
-
-            g1LeftBumper.readValue();
-
-            if (g1LeftBumper.wasJustPressed()) {
-                g2LeftBumperStamp = getRuntime();
-
-                spindexer.intakeShake(getRuntime());
-
-                leftBumper = true;
-            }
-
-            if (leftBumper) {
-                double time = getRuntime() - g2LeftBumperStamp;
-
-                if (time < 1.0) {
-                    robot.rejecter.setPosition(rOut);
-                } else {
-                    robot.rejecter.setPosition(rIn);
-                }
-
-            }
-
-            intake();
-
-            drivetrain.update();
-
-            TELE.update();
-
-            transfer.update();
-
-            g2RightBumper.readValue();
-
-            g2LeftBumper.readValue();
-
-            g2DpadDown.readValue();
-
-            g2DpadUp.readValue();
-
-            if (!scoreAll) {
-                spindexer.checkForBalls();
-            }
-
-            if (g2DpadUp.wasJustPressed()) {
-                pos -= 0.02;
-            }
-
-            if (g2DpadDown.wasJustPressed()) {
-                pos += 0.02;
-            }
-
-            g2DpadLeft.readValue();
-
-            g2DpadRight.readValue();
-
-            if (g2DpadLeft.wasJustPressed()) {
-                offset -= 0.02;
-            }
-
-            if (g2DpadRight.wasJustPressed()) {
-                offset += 0.02;
-            }
-
-            TELE.addData("hood", pos);
-
-            if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
-
-                shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
-
-            } else {
-
-                autotrack = false;
-
-                shooter.moveTurret(0.3 + offset);
-
-            }
-
-            if (gamepad2.right_stick_button) {
-                autotrack = true;
-            }
-
-            if (g2RightBumper.wasJustPressed()) {
-                transfer.setTransferPower(1);
-                transfer.transferIn();
-                shooter.setManualPower(1);
-
-                notShooting = false;
-
-            }
-
-            if (g2RightBumper.wasJustReleased()) {
-                transfer.setTransferPower(1);
-                transfer.transferOut();
-            }
-
-            if (gamepad2.left_stick_y > 0.5) {
-
-                shooter.setManualPower(0);
-            } else if (gamepad2.left_stick_y < -0.5) {
-                shooter.setManualPower(1);
-            }
-
-            if (g2LeftBumper.wasJustPressed()) {
-                g2LeftBumperStamp = getRuntime();
-                notShooting = false;
-                scoreAll = true;
-            }
-
-            if (scoreAll) {
-                double time = getRuntime() - g2LeftBumperStamp;
-
-                shooter.setManualPower(1);
-
-                TELE.addData("greenImportant", green);
-
-                TELE.addData("last", last);
-                TELE.addData("2ndLast", second);
-
-                int numGreen = spindexer.greens();
-
-                if (square) {
-
-                    if (time < 0.3) {
-
-                        ticker = 0;
-
-                        last = 0;
-                        second = 0;
-
-                        transfer.transferOut();
-                        transfer.setTransferPower(1);
-                    } else if (time < 2) {
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakePurple(second, last);
-                                second = last;
-                            } else {
-                                last = spindexer.outtakeGreen(second, last);
-                                second = last;
-
-                            }
-                        }
-
-                        second = last;
-
-                        ticker++;
-
-                    } else if (time < 2.5) {
-
-                        ticker = 0;
-
-                        second = last;
-
-                        transfer.transferIn();
-                    } else if (time < 4) {
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakeGreen(second, last);
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-                    } else if (time < 4.5) {
-
-                        ticker = 0;
-
-                        transfer.transferIn();
-                    } else if (time < 6) {
-
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakeGreen(second, last);
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-
-                    } else if (time < 6.5) {
-                        transfer.transferIn();
-                    } else {
-
-                        ticker = 0;
-
-                        scoreAll = false;
-                        transfer.transferOut();
-
-                        shooter.setManualPower(0);
-
-                    }
-                } else if (tri) {
-
-                    if (time < 0.3) {
-
-                        ticker = 0;
-
-                        last = 0;
-                        second = 0;
-
-                        transfer.transferOut();
-                        transfer.setTransferPower(1);
-                    } else if (time < 2) {
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakeGreen(second, last);
-                                second = last;
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-                                second = last;
-
-                            }
-                        }
-
-                        second = last;
-
-                        ticker++;
-
-                    } else if (time < 2.5) {
-
-                        ticker = 0;
-
-                        second = last;
-
-                        transfer.transferIn();
-                    } else if (time < 4) {
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakePurple(second, last);
-                            } else {
-                                last = spindexer.outtakeGreen(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-                    } else if (time < 4.5) {
-
-                        ticker = 0;
-
-                        transfer.transferIn();
-                    } else if (time < 6) {
-
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakeGreen(second, last);
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-
-                    } else if (time < 6.5) {
-                        transfer.transferIn();
-                    } else {
-
-                        ticker = 0;
-
-                        scoreAll = false;
-                        transfer.transferOut();
-
-                        shooter.setManualPower(0);
-
-                    }
-                } else if (circle) {
-
-                    if (time < 0.3) {
-
-                        ticker = 0;
-
-                        last = 0;
-                        second = 0;
-
-                        transfer.transferOut();
-                        transfer.setTransferPower(1);
-                    } else if (time < 2) {
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakeGreen(second, last);
-                                second = last;
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-                                second = last;
-
-                            }
-                        }
-
-                        second = last;
-
-                        ticker++;
-
-                    } else if (time < 2.5) {
-
-                        ticker = 0;
-
-                        second = last;
-
-                        transfer.transferIn();
-                    } else if (time < 4) {
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakeGreen(second, last);
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-                    } else if (time < 4.5) {
-
-                        ticker = 0;
-
-                        transfer.transferIn();
-                    } else if (time < 6) {
-
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (numGreen == 2) {
-                                last = spindexer.outtakePurple(second, last);
-                            } else {
-                                last = spindexer.outtakeGreen(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-
-                    } else if (time < 6.5) {
-                        transfer.transferIn();
-                    } else {
-
-                        ticker = 0;
-
-                        scoreAll = false;
-                        transfer.transferOut();
-
-                        shooter.setManualPower(0);
-
-                    }
-                } else {
-
-                    if (time < 0.3) {
-
-                        ticker = 0;
-
-                        last = 0;
-                        second = 0;
-
-                        if (gamepad2.right_trigger > 0.5) {
-                            green = false;
-
-                            all = gamepad2.left_trigger > 0.5;
-
-                        } else if (gamepad2.left_trigger > 0.5) {
-                            green = true;
-
-                            all = false;
-                        } else {
-                            all = true;
-                        }
-
-                        transfer.transferOut();
-                        transfer.setTransferPower(1);
-                    } else if (time < 2) {
-
-                        if (ticker == 0) {
-
-                            if (all) {
-                                spindexer.outtake3();
-                                last = 3;
-                                second = 3;
-                            } else if (green) {
-                                last = spindexer.outtakeGreen(second, last);
-                                second = last;
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-                                second = last;
-
-                            }
-                        }
-
-                        second = last;
-
-                        ticker++;
-
-                    } else if (time < 2.5) {
-
-                        ticker = 0;
-
-                        second = last;
-
-                        if (gamepad2.right_trigger > 0.5) {
-                            green = false;
-
-                            all = gamepad2.left_trigger > 0.5;
-
-                        } else if (gamepad2.left_trigger > 0.5) {
-                            green = true;
-
-                            all = false;
-
-                        }
-
-                        transfer.transferIn();
-                    } else if (time < 4) {
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (all) {
-                                spindexer.outtake2();
-
-                                last = 2;
-                            } else if (green) {
-                                last = spindexer.outtakeGreen(second, last);
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-                    } else if (time < 4.5) {
-
-                        ticker = 0;
-
-                        if (gamepad2.right_trigger > 0.5) {
-                            green = false;
-
-                            all = gamepad2.left_trigger > 0.5;
-
-                        } else if (gamepad2.left_trigger > 0.5) {
-                            green = true;
-
-                            all = false;
-                        }
-
-                        transfer.transferIn();
-                    } else if (time < 6) {
-
-                        transfer.transferOut();
-
-                        if (ticker == 0) {
-
-                            if (all) {
-                                spindexer.outtake1();
-                            } else if (green) {
-                                last = spindexer.outtakeGreen(second, last);
-                            } else {
-                                last = spindexer.outtakePurple(second, last);
-
-                            }
-                        }
-
-                        ticker++;
-
-                    } else if (time < 6.5) {
-                        transfer.transferIn();
-                    } else {
-
-                        ticker = 0;
-
-                        scoreAll = false;
-                        transfer.transferOut();
-
-                        shooter.setManualPower(0);
-
-                    }
-
-                }
-            }
-
-            shooter.update();
-
-        }
-
-    }
-
-    public void intake() {
-
-        g1RightBumper.readValue();
-
-        g2Circle.readValue();
-
-        g2Square.readValue();
-
-        g2Triangle.readValue();
-
-        if (g1RightBumper.wasJustPressed()) {
-
-            notShooting = true;
-
-            if (getRuntime() - g1RightBumperStamp < 0.3) {
-                intake.reverse();
-            } else {
-                intake.toggle();
-            }
-
-            if (intake.getIntakeState() == 1) {
-                shooter.setManualPower(0);
-            }
-
-            spindexer.intake();
-
-            transfer.transferOut();
-
-            g1RightBumperStamp = getRuntime();
-
-        }
-
-        if (intake.getIntakeState() == 1 && notShooting) {
-
-            spindexer.intakeShake(getRuntime());
-
-        } else {
-            if (g2Circle.wasJustPressed()) {
-                circle = true;
-                tri = false;
-                square = false;
-
-            }
-
-            if (g2Triangle.wasJustPressed()) {
-                circle = false;
-                tri = true;
-                square = false;
-            }
-
-            if (g2Square.wasJustPressed()) {
-                circle = false;
-                tri = false;
-                square = true;
-            }
-
-            if (gamepad2.x) {
-                circle = false;
-                tri = false;
-                square = false;
-            }
-
-        }
-
-        intake.update();
-
-        spindexer.update();
-
-    }
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ActiveColorSensorTest.txt

@@ -1,144 +0,0 @@
-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.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.teamcode.utils.Robot;
-
-
-@TeleOp
-@Config
-public class ActiveColorSensorTest extends LinearOpMode {
-    Robot robot;
-    MultipleTelemetry TELE;
-
-    @Override
-    public void runOpMode() throws InterruptedException{
-        robot = new Robot(hardwareMap);
-        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        int b1Purple = 1;
-        int b1Total = 1;
-        int b2Purple = 1;
-        int b2Total = 1;
-        int b3Purple = 1;
-        int b3Total = 1;
-
-        double totalStamp1 = 0.0;
-        double purpleStamp1 = 0.0;
-        double totalStamp2 = 0.0;
-        double purpleStamp2 = 0.0;
-        double totalStamp3 = 0.0;
-        double purpleStamp3 = 0.0;
-
-        String b1 = "none";
-        String b2 = "none";
-        String b3 = "none";
-
-        double position = 0.0;
-
-        double stamp = getRuntime();
-
-        waitForStart();
-        if (isStopRequested()) return;
-
-        while (opModeIsActive()){
-
-            if ((getRuntime() % 0.3) >0.15) {
-                position = spindexer_intakePos1 + 0.015;
-            } else {
-                position = spindexer_intakePos1 - 0.015;
-            }
-            robot.spin1.setPosition(position);
-            robot.spin2.setPosition(1-position);
-
-            robot.intake.setPower(1);
-
-            // Reset the counters after 1 second of not reading a ball.
-            final double ColorCounterResetDelay = 1.0;
-            // Number of times the loop needs to run before deciding on a color.
-            final int ColorCounterTotalMinCount = 20;
-            // If the color sensor reads a color this percentage of time
-            // out of the total, declare the color.
-            // Usage: (Color Count)/(Total Count) > ColorCounterThreshold
-            final double ColorCounterThreshold  = 0.65;
-
-            if (robot.pin1.getState()){
-                if (robot.pin0.getState()){
-                    b1Purple ++;
-                }
-                b1Total++;
-                totalStamp1 = getRuntime();
-            }
-            if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
-                // Too Much time has passed without detecting ball
-                b1 = "none";
-                b1Total = 1;
-                b1Purple = 1;
-            }else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
-            // Enough Time has passed and we met the threshold
-                b1 = "Purple";
-            }else if (b1Total > ColorCounterTotalMinCount) {
-            // Enough Time passed WITHOUT meeting the threshold
-                b1 = "Green";
-            }
-
-            if (robot.pin3.getState()){
-                if (robot.pin2.getState()){
-                    b2Purple ++;
-                }
-                b2Total++;
-                totalStamp2 = getRuntime();
-            }
-            if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
-                // Too Much time has passed without detecting ball
-                b2 = "none";
-                b2Total = 1;
-                b2Purple = 1;
-            }else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
-                // Enough Time has passed and we met the threshold
-                b2 = "Purple";
-            }else if (b2Total > ColorCounterTotalMinCount) {
-                // Enough Time passed WITHOUT meeting the threshold
-                b2 = "Green";
-            }
-
-            if (robot.pin5.getState()){
-                if (robot.pin4.getState()){
-                    b3Purple ++;
-                }
-                b3Total++;
-                totalStamp3 = getRuntime();
-            }
-            if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
-                // Too Much time has passed without detecting ball
-                b3 = "none";
-                b3Total = 1;
-                b3Purple = 1;
-            }else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
-                // Enough Time has passed and we met the threshold
-                b3 = "Purple";
-            }else if (b3Total > ColorCounterTotalMinCount) {
-                // Enough Time passed WITHOUT meeting the threshold
-                b3 = "Green";
-            }
-
-            TELE.addData("Green1:", robot.pin1.getState());
-            TELE.addData("Purple1:", robot.pin0.getState());
-            TELE.addData("Green2:", robot.pin3.getState());
-            TELE.addData("Purple2:", robot.pin2.getState());
-            TELE.addData("Green3:", robot.pin5.getState());
-            TELE.addData("Purple3:", robot.pin4.getState());
-            TELE.addData("1", b1);
-            TELE.addData("2",b2);
-            TELE.addData("3",b3);
-
-            TELE.update();
-        }
-    }
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.txt

@@ -1,63 +0,0 @@
-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;
-
-@TeleOp
-@Config
-public class ColorSensorTest 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()) {
-
-// ----- COLOR 1 -----
-            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/ColorTest.java

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.colorFilterAlpha;
+
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -18,6 +20,9 @@ public class ColorTest extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        double color1Distance = 0;
+        double color2Distance = 0;
+        double color3Distance = 0;
 
         waitForStart();
         if (isStopRequested()) return;
@@ -26,28 +31,34 @@ public class ColorTest extends LinearOpMode {
             double green1 = robot.color1.getNormalizedColors().green;
             double blue1 = robot.color1.getNormalizedColors().blue;
             double red1 = robot.color1.getNormalizedColors().red;
+            double dist1 = robot.color1.getDistance(DistanceUnit.MM);
+            color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
 
             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));
+            TELE.addData("Color1 distance (mm)", color1Distance);
 
 // ----- COLOR 2 -----
             double green2 = robot.color2.getNormalizedColors().green;
             double blue2 = robot.color2.getNormalizedColors().blue;
             double red2 = robot.color2.getNormalizedColors().red;
+            double dist2 = robot.color2.getDistance(DistanceUnit.MM);
+            color2Distance = (colorFilterAlpha * dist2) + ((1-colorFilterAlpha) * color2Distance);
 
             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));
+            TELE.addData("Color2 distance (mm)", color2Distance);
 
 // ----- COLOR 3 -----
             double green3 = robot.color3.getNormalizedColors().green;
             double blue3 = robot.color3.getNormalizedColors().blue;
             double red3 = robot.color3.getNormalizedColors().red;
+            double dist3 = robot.color3.getDistance(DistanceUnit.MM);
+            color3Distance = (colorFilterAlpha * dist3) + ((1-colorFilterAlpha) * color3Distance);
 
             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.addData("Color3 distance (mm)", color3Distance);
 
             TELE.update();
         }

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

@@ -16,8 +16,7 @@ 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;
@@ -72,19 +71,19 @@ public class IntakeTest extends LinearOpMode {
                         initPos = currentPos;
                     }
                     if (reverse){
-                        robot.spin1.setPower(manualPow);
-                        robot.spin2.setPower(-manualPow);
+                        robot.spin1.setPosition(manualPow);
+                        robot.spin2.setPosition(-manualPow);
                     } else {
-                        robot.spin1.setPower(-manualPow);
-                        robot.spin2.setPower(manualPow);
+                        robot.spin1.setPosition(-manualPow);
+                        robot.spin2.setPosition(manualPow);
                     }
                     robot.intake.setPower(1);
                     stamp = getRuntime();
                     TELE.addData("Reverse?", reverse);
                     TELE.update();
                 } else {
-                    robot.spin1.setPower(0);
-                    robot.spin2.setPower(0);
+                    robot.spin1.setPosition(0);
+                    robot.spin2.setPosition(0);
 
                     if (getRuntime() - stamp < 1) {
                         robot.intake.setPower(-(getRuntime() - stamp)*2);
@@ -191,15 +190,15 @@ public class IntakeTest extends LinearOpMode {
 
         if (!atTarget) {
             powPID = servo.setSpinPos(spindexerPos);
-            robot.spin1.setPower(powPID);
-            robot.spin2.setPower(-powPID);
+            robot.spin1.setPosition(powPID);
+            robot.spin2.setPosition(-powPID);
 
             steadySpin = false;
             wasMoving = true;   // remember we were moving
             stamp = getRuntime();
         } else {
-            robot.spin1.setPower(0);
-            robot.spin2.setPower(0);
+            robot.spin1.setPosition(0);
+            robot.spin2.setPosition(0);
             steadySpin = true;
             wasMoving = false;
         }

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

@@ -4,32 +4,35 @@ 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;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
 @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
+    Turret turret;
+    Robot robot;
+    public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 4 is for red track; DO NOT USE 3
     public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
+    public static boolean turretMode = false;
+    public static double turretPos = 0.501;
     @Override
     public void runOpMode() throws InterruptedException {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        limelight.pipelineSwitch(pipeline);
+        robot = new Robot(hardwareMap);
+        turret = new Turret(robot, TELE, robot.limelight);
+        robot.limelight.pipelineSwitch(pipeline);
         waitForStart();
         if (isStopRequested()) return;
-        limelight.start();
         while (opModeIsActive()){
             if (mode == 0){
-                limelight.pipelineSwitch(pipeline);
-                LLResult result = limelight.getLatestResult();
+                robot.limelight.pipelineSwitch(pipeline);
+                LLResult result = robot.limelight.getLatestResult();
                 if (result != null) {
                     if (result.isValid()) {
                         TELE.addData("tx", result.getTx());
@@ -38,40 +41,29 @@ public class LimelightTest extends LinearOpMode {
                     }
                 }
             } 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);
+                int obeliskID = turret.detectObelisk();
+                TELE.addData("Limelight ID", obeliskID);
                 TELE.update();
+            } else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
+                double tx = turret.getBearing();
+                double ty = turret.getTy();
+                double x = turret.getLimelightX();
+                double y = turret.getLimelightY();
+                TELE.addData("tx", tx);
+                TELE.addData("ty", ty);
+                TELE.addData("x", x);
+                TELE.addData("y", y);
+                TELE.update();
+            } else {
+                robot.limelight.pipelineSwitch(0);
+            }
+
+            if (turretMode){
+                if (turretPos != 0.501){
+                    turret.manualSetTurret(turretPos);
+                }
             }
 
         }
-            } 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

@@ -9,8 +9,6 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 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;
@@ -47,12 +45,11 @@ public class PIDServoTest extends LinearOpMode {
 
                 double pid = controller.calculate(pos, target);
 
-                robot.spin1.setPower(pid);
-                robot.spin2.setPower(-pid);
+                robot.spin1.setPosition(pid);
+                robot.spin2.setPosition(-pid);
             }
 
             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/ShooterTest.java

@@ -1,6 +1,11 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+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.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinSpeedIncrease;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -11,27 +16,42 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
 
 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;
 
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-
-    public static int mode = 0;
+    public static int mode = 1;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
     public static double Velocity = 0.0;
-    public static double P = 40.0;
-    public static double I = 0.3;
-    public static double D = 7.0;
-    public static double F = 10.0;
+    public static double P = 255.0;
+    public static double I = 0.0;
+    public static double D = 0.0;
+    public static double F = 7.5;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
+
+    public static boolean intake = false;
     Robot robot;
     Flywheel flywheel;
+    Servos servo;
+
+    double shootStamp = 0.0;
+    boolean shootAll = false;
+
+    public double spinPow = 0.09;
+
+    public static boolean enableHoodAutoOpen = false;
+    public double hoodAdjust = 0.0;
+    public static double hoodAdjustFactor = 1.0;
+    private int shooterTicker = 0;
+    Spindexer spindexer ;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -40,6 +60,8 @@ public class ShooterTest extends LinearOpMode {
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
         flywheel = new Flywheel(hardwareMap);
+        spindexer = new Spindexer(hardwareMap);
+        servo = new Servos(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -60,16 +82,68 @@ public class ShooterTest extends LinearOpMode {
             }
 
             if (hoodPos != 0.501) {
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                } else {
                     robot.hood.setPosition(hoodPos);
                 }
+            }
+
+            if (intake) {
+                robot.intake.setPower(1);
+
+            } else {
+                robot.intake.setPower(0);
+            }
 
 
-            robot.transfer.setPower(transferPower);
             if (shoot) {
+                shootStamp = getRuntime();
+                shootAll = true;
+                shoot = false;
+                robot.transfer.setPower(transferPower);
+                shooterTicker = 0;
+            }
+            if (shootAll) {
+
+                //intake = false;
+                //reject = false;
+
+                // TODO: Change starting position based on desired order to shoot green ball
+                //spindexPos = spindexer_intakePos1;
+                if (getRuntime() - shootStamp < 3.5) {
+
+                    if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
+                        robot.spin1.setPosition(spinStartPos);
+                        robot.spin2.setPosition(1-spinStartPos);
+                    } else {
                         robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
+                        robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
+                    }
+
+
+
                 } else {
                     robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+                    shooterTicker = 0;
+
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.transfer.setPower(0);
+
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
                 }
+            } else {
+                spindexer.processIntake();
+            }
+
             TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());

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

@@ -0,0 +1,50 @@
+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.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Autonomous
+@Config
+public class TurretTest extends LinearOpMode {
+    public static boolean zeroTurr = false;
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot robot = new Robot(hardwareMap);
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        Turret turret = new Turret(robot, TELE, robot.limelight);
+        waitForStart();
+
+        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
+
+        while(opModeIsActive()){
+
+            drive.updatePoseEstimate();
+            turret.trackGoal(drive.localizer.getPose());
+
+            TELE.addData("tpos", turret.getTurrPos());
+            TELE.addData("Limelight tx", turret.getBearing());
+            TELE.addData("Limelight ty", turret.getTy());
+            TELE.addData("Limelight X", turret.getLimelightX());
+            TELE.addData("Limelight Y", turret.getLimelightY());
+
+            if(zeroTurr){
+                turret.zeroTurretEncoder();
+            }
+
+            TELE.update();
+        }
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ed.txt

@@ -1,210 +0,0 @@
-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.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.subsystems.Shooter;
-
-@TeleOp
-@Config
-public class ShooterTest extends LinearOpMode {
-
-    Robot robot;
-
-    public static double pow = 0.0;
-    public static double vel = 0.0;
-    public static double ecpr = 1024.0; // CPR of the encoder
-    public static double hoodPos = 0.5;
-    public static double turretPos = 0.9;
-
-    public static String flyMode = "VEL";
-
-    public static boolean AutoTrack = false;
-
-    double initPos = 0.0;
-
-    double velo = 0.0;
-    double velo1 = 0.0;
-    double velo2 = 0.0;
-    double velo3 = 0.0;
-    double velo4 = 0.0;
-    double velo5 = 0.0;
-
-    double stamp1 = 0.0;
-
-    double initPos1 = 0.0;
-
-    double powPID = 0.0;
-
-    public static int maxVel = 4500;
-
-    public static boolean shoot = false;
-
-    public static int spindexPos = 1;
-
-    public static boolean intake = true;
-
-    public static int tolerance = 50;
-
-    double stamp = 0.0;
-
-    public static double kP = 0.001;           // small proportional gain (tune this)
-    public static double maxStep = 0.06;         // prevents sudden jumps
-    public static double distance = 50;
-
-    MultipleTelemetry TELE;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        robot = new Robot(hardwareMap);
-
-        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        Shooter shooter = new Shooter(robot, TELE);
-
-        robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-
-        shooter.setTelemetryOn(true);
-
-        shooter.setShooterMode(flyMode);
-
-        initPos = shooter.getECPRPosition();
-
-        int ticker = 0;
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        while (opModeIsActive()) {
-
-            ticker++;
-
-            if (AutoTrack){
-                hoodPos = hoodAnglePrediction(distance);
-                vel = velPrediction(distance);
-            }
-
-
-
-            shooter.setShooterMode(flyMode);
-
-            shooter.setManualPower(pow);
-
-            robot.hood.setPosition(hoodPos);
-            robot.turr1.setPosition(turretPos);
-            robot.turr2.setPosition(1 - turretPos);
-            if (intake) {
-                robot.transfer.setPower(0);
-                robot.intake.setPower(0.75);
-                robot.spin1.setPosition(spindexer_intakePos1);
-                robot.spin2.setPosition(1 - spindexer_intakePos1);
-            } else {
-                robot.transfer.setPower(.75 + (powPID/4));
-                robot.intake.setPower(0);
-                if (spindexPos == 1) {
-                    robot.spin1.setPosition(spindexer_outtakeBall1);
-                    robot.spin2.setPosition(1 - spindexer_outtakeBall1);
-                } else if (spindexPos == 2) {
-                    robot.spin1.setPosition(spindexer_outtakeBall2);
-                    robot.spin2.setPosition(1 - spindexer_outtakeBall2);
-                } else if (spindexPos == 3) {
-                    robot.spin1.setPosition(spindexer_outtakeBall3);
-                    robot.spin2.setPosition(1 - spindexer_outtakeBall3);
-                }
-            }
-
-            double penguin = 0;
-            if (ticker % 8 ==0){
-                penguin = shooter.getECPRPosition();
-                stamp = getRuntime();
-                velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
-                initPos1 = penguin;
-                stamp1 = stamp;
-            }
-
-
-            velo = velo1;
-
-            double feed = vel / maxVel;        // Example: vel=2500 → feed=0.5
-
-            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 ---
-            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;
-            }
-
-            shooter.setVelocity(powPID);
-
-            if (shoot) {
-                robot.transferServo.setPosition(transferServo_in);
-            } else {
-                robot.transferServo.setPosition(transferServo_out);
-            }
-
-            shooter.update();
-
-            TELE.addData("Revolutions", shooter.getECPRPosition());
-            TELE.addData("hoodPos", shooter.gethoodPosition());
-            TELE.addData("turretPos", shooter.getTurretPosition());
-            TELE.addData("Power Fly 1", robot.shooter1.getPower());
-            TELE.addData("Power Fly 2", robot.shooter2.getPower());
-            TELE.addData("powPID", shooter.getpowPID());
-            TELE.addData("Velocity", velo);
-            TELE.update();
-
-
-        }
-
-    }
-
-    public double hoodAnglePrediction(double distance) {
-        double L = 0.298317;
-        double A = 1.02124;
-        double k = 0.0157892;
-        double n = 3.39375;
-
-        double dist = Math.sqrt(distance*distance+24*24);
-
-        return L + A * Math.exp(-Math.pow(k * dist, n));
-    }
-    public static double velPrediction(double distance) {
-
-        double x = Math.sqrt(distance*distance+24*24);
-
-
-
-        double A = -211149.992;
-        double B = -1.19943;
-        double C = 3720.15909;
-
-        return A * Math.pow(x, B) + C;
-    }
-
-}

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

@@ -0,0 +1,87 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+
+public class Drivetrain {
+
+     Robot robot;
+    boolean autoDrive = false;
+
+    Pose2d brakePos = new Pose2d(0, 0, 0);
+
+    MecanumDrive drive;
+
+    private final TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
+    private final ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
+
+
+    public Drivetrain (Robot rob, MecanumDrive mecanumDrive){
+
+        this.robot = rob;
+        this.drive = mecanumDrive;
+
+    }
+
+    public void drive(double y, double x, double rx, double brake){
+
+        if (!autoDrive) {
+
+            x = x* 1.1; // Counteract imperfect strafing
+
+
+            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);
+        }
+
+        if (brake > 0.4 && robot.frontLeft.getZeroPowerBehavior() != DcMotor.ZeroPowerBehavior.BRAKE && !autoDrive) {
+            robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+            robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+            robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+            robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+            drive.updatePoseEstimate();
+
+            brakePos = drive.localizer.getPose();
+            autoDrive = true;
+
+        } else if (brake > 0.4) {
+            drive.updatePoseEstimate();
+
+            Pose2d currentPos = drive.localizer.getPose();
+
+            TrajectoryActionBuilder traj2 = drive.actionBuilder(currentPos)
+                    .strafeToLinearHeading(new Vector2d(brakePos.position.x, brakePos.position.y), brakePos.heading.toDouble(), VEL_CONSTRAINT, ACCEL_CONSTRAINT);
+
+            if (Math.abs(currentPos.position.x - brakePos.position.x) > 1 || Math.abs(currentPos.position.y - brakePos.position.y) > 1) {
+                Actions.runBlocking(
+                        traj2.build()
+                );
+            }
+        } else {
+            autoDrive = false;
+            robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+            robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+            robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+            robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+
+        }
+
+    }
+}

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

@@ -1,30 +1,25 @@
 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;
+    public double velo1 = 0.0;
+    public double velo2 = 0.0;
     double targetVelocity = 0.0;
     double powPID = 0.0;
     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 () {
@@ -43,14 +38,14 @@ public class Flywheel {
 
     // Set the robot PIDF for the next cycle.
     public void setPIDF(double p, double i, double d, double f) {
-        robot.shooterPIDF.p = p;
-        robot.shooterPIDF.i = i;
-        robot.shooterPIDF.d = d;
-        robot.shooterPIDF.f = f;
-    }
-    private double getTimeSeconds ()
-    {
-        return (double) System.currentTimeMillis()/1000.0;
+        shooterPIDF1.p = p;
+        shooterPIDF1.i = i;
+        shooterPIDF1.d = d;
+        shooterPIDF1.f = f;
+        shooterPIDF2.p = p;
+        shooterPIDF2.i = i;
+        shooterPIDF2.d = d;
+        shooterPIDF2.f = f;
     }
 
     // Convert from RPM to Ticks per Second
@@ -62,13 +57,10 @@ public class Flywheel {
     public double manageFlywheel(double commandedVelocity) {
         targetVelocity = commandedVelocity;
 
-        // Turn PIDF for Target Velocities
-        //robot.shooterPIDF.p = P;
-        //robot.shooterPIDF.i = I;
-        //robot.shooterPIDF.d = D;
-        //robot.shooterPIDF.f = F;
-        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
-        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, robot.shooterPIDF);
+        // Add code here to set PIDF based on desired RPM
+
+        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/FlywheelV2.java

@@ -1,110 +0,0 @@
-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 > 4500) {
-            powPID = 1.0;
-        } else if (velo - targetVelocity > 4500) {
-            powPID = 0.0;
-        } else {
-
-            double a = 2539.07863;
-            double c = 1967.6498;
-            double d = -0.289647;
-            double h = -1.1569;
-
-            double feed = Math.log10((a / (targetVelocity + c)) + d) / h;
-
-            // --- 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/PositionalServoProgrammer.java

@@ -8,6 +8,8 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
 @TeleOp
 @Config
 public class PositionalServoProgrammer extends LinearOpMode {
@@ -16,33 +18,26 @@ public class PositionalServoProgrammer extends LinearOpMode {
     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 light = 0.501;
+
+    Turret turret;
 
     @Override
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
+
+        turret = new Turret(robot, TELE, robot.limelight );
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
-            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 (spindexPos != 0.501 && !servo.spinEqual(spindexPos)){
+                robot.spin1.setPosition(spindexPos);
+                robot.spin2.setPosition(1-spindexPos);
             }
             if (turretPos != 0.501){
                 robot.turr1.setPosition(turretPos);
@@ -54,6 +49,9 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (hoodPos != 0.501){
                 robot.hood.setPosition(hoodPos);
             }
+            if (light !=0.501){
+                robot.light.setPosition(light);
+            }
             // To check configuration of spindexer:
             // Set "mode" to 1 and spindexPow to 0.1
             // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
@@ -66,13 +64,12 @@ public class PositionalServoProgrammer extends LinearOpMode {
             //TODO: @KeshavAnandCode do the above please
 
             TELE.addData("spindexer pos", servo.getSpinPos());
-            TELE.addData("turret pos", servo.getTurrPos());
+            TELE.addData("turret pos", robot.turr1.getPosition());
             TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
             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.addData("tpos ", turret.getTurrPos() );
             TELE.update();
         }
     }

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

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.hardware.ServoEx;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
@@ -14,10 +16,13 @@ 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 = true;
+    public static boolean usingCamera = false;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
@@ -25,11 +30,10 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 10.0;
-    public double shooterPIDF_I = 0.6;
-    public double shooterPIDF_D = 5.0;
-    public double shooterPIDF_F = 10.0;
-
+    public double shooterPIDF_P = 255.0;
+    public double shooterPIDF_I = 0.0;
+    public double shooterPIDF_D = 0.0;
+    public double shooterPIDF_F = 7.5;
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
@@ -37,11 +41,13 @@ public class Robot {
     public Servo transferServo;
     public Servo turr1;
     public Servo turr2;
-    public CRServo spin1;
-    public CRServo spin2;
+
+    public Servo spin1;
+
+    public Servo spin2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
-    public DcMotorEx turr1Pos;
+    public AnalogInput turr1Pos;
     public AnalogInput transferServoPos;
     public AprilTagProcessor aprilTagProcessor;
     public WebcamName webcam;
@@ -49,10 +55,7 @@ public class Robot {
     public RevColorSensorV3 color2;
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
-
-    public static boolean usingLimelight = true;
-
-    public static boolean usingCamera = true;
+    public Servo light;
 
     public Robot(HardwareMap hardwareMap) {
 
@@ -80,8 +83,10 @@ public class Robot {
         shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter1.setVelocity(0);
         shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
         shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setVelocity(0);
 
         hood = hardwareMap.get(Servo.class, "hood");
 
@@ -89,20 +94,17 @@ 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");
+        spin1 = hardwareMap.get(Servo.class, "spin2");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
 
-        spin2 = hardwareMap.get(CRServo.class, "spin2");
+        spin2 = hardwareMap.get(Servo.class, "spin1");
 
         spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
 
-        spin1.setDirection(DcMotorSimple.Direction.REVERSE);
-        spin2.setDirection(DcMotorSimple.Direction.REVERSE);
-
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
 
         transferServo = hardwareMap.get(Servo.class, "transferServo");
@@ -124,5 +126,7 @@ public class Robot {
             webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
             aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }
+
+        light = hardwareMap.get(Servo.class, "light");
     }
 }

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

@@ -8,10 +8,10 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 public class Servos {
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
-    public static double spin_scalar = 1.0086;
-    public static double spin_restPos = 0.0;
+    public static double spin_scalar = 1.112;
+    public static double spin_restPos = 0.155;
     public static double turret_scalar = 1.009;
     public static double turret_restPos = 0.0;
     Robot robot;
@@ -27,34 +27,29 @@ public class Servos {
     }
 
     // In the code below, encoder = robot.servo.getVoltage()
-
+    // TODO: set the restPos and scalar
     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);
+        return pos;
     }
 
     public boolean spinEqual(double pos) {
-        return Math.abs(pos - this.getSpinPos()) < 0.02;
+        return Math.abs(pos - this.getSpinPos()) < 0.03;
     }
 
     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/Spindexer.java

@@ -4,6 +4,10 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
@@ -16,9 +20,11 @@ import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Types;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
 public class Spindexer {
+
     Robot robot;
     Servos servos;
     Flywheel flywheel;
@@ -36,6 +42,12 @@ public class Spindexer {
     public double distanceFrontDriver = 0.0;
     public double distanceFrontPassenger = 0.0;
 
+    public double spindexerWiggle = 0.01;
+
+    public double spindexerOuttakeWiggle = 0.01;
+    private double prevPos = 0.0;
+    public double spindexerPosOffset = 0.00;
+    public Types.Motif desiredMotif = Types.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
         REARCENTER,
@@ -52,7 +64,9 @@ public class Spindexer {
     }
 
     enum IntakeState {
-        UNKNOWN,
+        UNKNOWN_START,
+        UNKNOWN_MOVE,
+        UNKNOWN_DETECT,
         INTAKE,
         FINDNEXT,
         MOVING,
@@ -60,15 +74,22 @@ public class Spindexer {
         SHOOTNEXT,
         SHOOTMOVING,
         SHOOTWAIT,
-    };
+        SHOOT_ALL_PREP,
+        SHOOT_ALL_READY,
+        SHOOT_PREP_CONTINOUS,
+        SHOOT_CONTINOUS
+    }
 
-    public IntakeState currentIntakeState = IntakeState.UNKNOWN;
+    int shootWaitCount = 0;
 
-    enum BallColor {
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
+    public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
+    public int unknownColorDetect = 0;
+    public enum BallColor {
         UNKNOWN,
         GREEN,
         PURPLE
-    };
+    }
 
     class BallPosition {
         boolean isEmpty = true;
@@ -99,7 +120,9 @@ public class Spindexer {
 
 
     double[] outakePositions =
-            {spindexer_outtakeBall1, spindexer_outtakeBall2, spindexer_outtakeBall3};
+            {spindexer_outtakeBall1+spindexerPosOffset,
+                    spindexer_outtakeBall2+spindexerPosOffset,
+                    spindexer_outtakeBall3+spindexerPosOffset};
 
     double[] intakePositions =
             {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
@@ -125,34 +148,41 @@ public class Spindexer {
         ballPositions[pos].isEmpty = true;
         ballPositions[pos].foundEmpty = 0;
         ballPositions[pos].ballColor = BallColor.UNKNOWN;
+        distanceRearCenter = 61;
+        distanceFrontDriver = 61;
+        distanceFrontPassenger = 61;
     }
 
     public void resetSpindexer () {
         for (int i = 0; i < 3; i++) {
             resetBallPosition(i);
         }
-        currentIntakeState = IntakeState.UNKNOWN;
+        currentIntakeState = IntakeState.UNKNOWN_START;
     }
 
     // Detects if a ball is found and what color.
     // Returns true is there was a new ball found in Position 1
     // FIXIT: Reduce number of times that we read the color sensors for loop times.
-    public boolean detectBalls() {
+    public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
 
         boolean newPos1Detection = false;
         int spindexerBallPos = 0;
 
         // Read Distances
-        distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
-        distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
-        distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+        double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+        distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
+        double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+        distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
+        double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+        distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
 
         // Position 1
-        if (distanceRearCenter < 43) {
+        if (distanceRearCenter < 60) {
 
             // Mark Ball Found
             newPos1Detection = true;
 
+            if (detectRearColor) {
                 // Detect which color
                 double green = robot.color1.getNormalizedColors().green;
                 double red = robot.color1.getNormalizedColors().red;
@@ -161,30 +191,32 @@ public class Spindexer {
                 double gP = green / (green + red + blue);
 
                 // FIXIT - Add filtering to improve accuracy.
-           if (gP >= 0.4) {
-               ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
+                if (gP >= 0.38) {
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // green
                 } else {
-               ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
+                }
            }
         }
         // Position 2
         // Find which ball position this is in the spindexer
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 60) {
+        if (distanceFrontDriver < 56) {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
-            // FIXIT: Comment out for now due to loop time concerns
-//            double green = robot.color2.getNormalizedColors().green;
-//            double red = robot.color2.getNormalizedColors().red;
-//            double blue = robot.color2.getNormalizedColors().blue;
-//
-//            double gP = green / (green + red + blue);
+            if (detectFrontColor) {
+                double green = robot.color2.getNormalizedColors().green;
+                double red = robot.color2.getNormalizedColors().red;
+                double blue = robot.color2.getNormalizedColors().blue;
 
-//           if (gP >= 0.4) {
-//               b2 = 2;  // purple
-//           } else {
-//               b2 = 1;  // green
-//           }
+                double gP = green / (green + red + blue);
+
+                if (gP >= 0.4) {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                }
+            }
         } else {
             if (!ballPositions[spindexerBallPos].isEmpty) {
                 if (ballPositions[spindexerBallPos].foundEmpty > 3) {
@@ -197,22 +229,23 @@ public class Spindexer {
 
         // Position 3
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
-        if (distanceFrontPassenger < 33) {
+        if (distanceFrontPassenger < 29) {
 
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
-            // FIXIT: Comment out for now due to loop time concerns
-//            double green = robot.color3.getNormalizedColors().green;
-//            double red = robot.color3.getNormalizedColors().red;
-//            double blue = robot.color3.getNormalizedColors().blue;
+            if (detectFrontColor) {
+                double green = robot.color3.getNormalizedColors().green;
+                double red = robot.color3.getNormalizedColors().red;
+                double blue = robot.color3.getNormalizedColors().blue;
 
-//            double gP = green / (green + red + blue);
+                double gP = green / (green + red + blue);
 
-//           if (gP >= 0.4) {
-//               b3 = 2;  // purple
-//           } else {
-//               b3 = 1;  // green
-//           }
+                if (gP >= 0.42) {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                }
+            }
         } else {
             if (!ballPositions[spindexerBallPos].isEmpty) {
                 if (ballPositions[spindexerBallPos].foundEmpty > 3) {
@@ -234,41 +267,95 @@ public class Spindexer {
 
         return newPos1Detection;
     }
-
-    public void moveSpindexerToPos(double pos) {
-        spinCurrentPos = servos.getSpinPos();
-
-        double spindexPID = spinPID.calculate(spinCurrentPos, pos);
-
-        robot.spin1.setPower(spindexPID);
-        robot.spin2.setPower(-spindexPID);
+    // Has code to unjam spindexer
+    private void moveSpindexerToPos(double pos) {
+        robot.spin1.setPosition(pos);
+        robot.spin2.setPosition(1-pos);
+//        double currentPos = servos.getSpinPos();
+//        if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
+//            if (currentPos > pos){
+//                robot.spin1.setPosition(servos.getSpinPos() + 0.05);
+//                robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
+//            } else {
+//                robot.spin1.setPosition(servos.getSpinPos() - 0.05);
+//                robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
+//            }
+//        }
+//        prevPos = currentPos;
     }
 
     public void stopSpindexer() {
-        robot.spin1.setPower(0);
-        robot.spin2.setPower(0);
+
+    }
+
+    public void ballCounterLight(){
+        int counter = 0;
+        if (!ballPositions[0].isEmpty){
+            counter++;
+        }
+        if (!ballPositions[1].isEmpty){
+            counter++;
+        }
+        if (!ballPositions[2].isEmpty){
+            counter++;
+        }
+        if (counter == 3){
+            robot.light.setPosition(Light3);
+        } else if (counter == 2){
+            robot.light.setPosition(Light2);
+        } else if (counter == 1){
+            robot.light.setPosition(Light1);
+        } else {
+            robot.light.setPosition(Light0);
+        }
+    }
+
+    public boolean slotIsEmpty(int slot){
+        return !ballPositions[slot].isEmpty;
     }
 
     public boolean isFull () {
         return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
     }
+
+    private double intakeTicker = 0;
     public boolean processIntake() {
 
         switch (currentIntakeState) {
-            case UNKNOWN:
+            case UNKNOWN_START:
                 // For now just set position ONE if UNKNOWN
                 commandedIntakePosition = 0;
-                servos.setSpinPos(intakePositions[0]);
-                currentIntakeState = Spindexer.IntakeState.MOVING;
+                moveSpindexerToPos(intakePositions[0]);
+                currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
+                break;
+            case UNKNOWN_MOVE:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
+                    stopSpindexer();
+                    unknownColorDetect = 0;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+            case UNKNOWN_DETECT:
+                if (unknownColorDetect >5) {
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                } else {
+                    //detectBalls(true, true);
+                    unknownColorDetect++;
+                }
                 break;
             case INTAKE:
                 // Ready for intake and Detecting a New Ball
-                if (detectBalls()) {
+                if (detectBalls(true, false)) {
                     ballPositions[commandedIntakePosition].isEmpty = false;
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
                     // Maintain Position
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                    spindexerWiggle *= -1.0;
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 }
                 break;
             case FINDNEXT:
@@ -276,31 +363,28 @@ public class Spindexer {
                 double currentSpindexerPos = servos.getSpinPos();
                 double commandedtravelDistance = 2.0;
                 double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
-                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
-                if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                else if (ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
-                proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
-                if (ballPositions[2].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                else if (ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.MOVING;
-                    commandedtravelDistance = proposedTravelDistance;
                 }
                 if (currentIntakeState != Spindexer.IntakeState.MOVING) {
                     // Full
+                    //commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -309,9 +393,14 @@ public class Spindexer {
             case MOVING:
                 // Stopping when we get to the new position
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    if (intakeTicker > 1){
                         currentIntakeState = Spindexer.IntakeState.INTAKE;
                         stopSpindexer();
-                    detectBalls();
+                        intakeTicker = 0;
+                    } else {
+                        intakeTicker++;
+                    }
+                    //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
                     moveSpindexerToPos(intakePositions[commandedIntakePosition]);
@@ -320,13 +409,35 @@ public class Spindexer {
 
             case FULL:
                 // Double Check Colors
-                detectBalls();
+                detectBalls(false, false); // Minimize hardware calls
                 if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
                     // Error handling found an empty spot, get it ready for a ball
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 }
                 // Maintain Position
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                spindexerWiggle *= -1.0;
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
+                break;
+
+            case SHOOT_ALL_PREP:
+                // We get here with function call to prepareToShootMotif
+                // Stopping when we get to the new position
+                commandedIntakePosition = 0;
+                if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                }
+                break;
+
+            case SHOOT_ALL_READY: // Not used
+                // Double Check Colors
+                //detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
+                    // All ball shot move to intake state
+                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+                }
+                // Maintain Position
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTNEXT:
@@ -334,67 +445,182 @@ public class Spindexer {
                 if (!ballPositions[0].isEmpty) {
                     // Position 1
                     commandedIntakePosition = 0;
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (ballPositions[1].isEmpty) { // Possible error: should it be !ballPosition[1].isEmpty?
+                } else if (!ballPositions[1].isEmpty) {
                     // Position 2
                     commandedIntakePosition = 1;
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (ballPositions[2].isEmpty) { // Possible error: should it be !ballPosition[2].isEmpty?
+                } else if (!ballPositions[2].isEmpty) {
                     // Position 3
                     commandedIntakePosition = 2;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
                     currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
                 } else {
                     // Empty return to intake state
                     currentIntakeState = IntakeState.FINDNEXT;
                 }
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTMOVING:
                 // Stopping when we get to the new position
                 if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
                     currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
-                    ballPositions[commandedIntakePosition].isEmpty = true;
-                    // Advance to next full position and wait
-//                    commandedIntakePosition++;
-//                    if (commandedIntakePosition > 2) {
-//                        commandedIntakePosition = 0;
-//                    }
-//                    // Continue moving to next position
-//                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-//                    currentIntakeState = Spindexer.IntakeState.MOVING;
-
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                    moveSpindexerToPos(outakePositions[commandedIntakePosition]);
                 }
                 break;
 
             case SHOOTWAIT:
+                double shootWaitMax = 4;
                 // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    currentIntakeState = Spindexer.IntakeState.INTAKE;
-                    stopSpindexer();
-                    detectBalls();
+                if (prevIntakeState != currentIntakeState) {
+                    if (commandedIntakePosition==2) {
+                        shootWaitMax = 5;
+                    }
+                    shootWaitCount = 0;
                 } else {
+                    shootWaitCount++;
+                }
+                // wait 10 cycles
+                if (shootWaitCount > shootWaitMax) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+                    ballPositions[commandedIntakePosition].isEmpty = true;
+                    shootWaitCount = 0;
+                    //stopSpindexer();
+                    //detectBalls(true, false);
+                }
                 // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                spindexerOuttakeWiggle *= -1.0;
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
+                break;
+
+            case SHOOT_PREP_CONTINOUS:
+                if (servos.spinEqual(spinStartPos)){
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+                } else {
+                    moveSpindexerToPos(spinStartPos);
+                }
+                break;
+
+            case SHOOT_CONTINOUS:
+                ballPositions[0].isEmpty = false;
+                ballPositions[1].isEmpty = false;
+                ballPositions[2].isEmpty = false;
+                if (servos.getSpinPos() > spinEndPos){
+                    currentIntakeState = IntakeState.FINDNEXT;
+                } else {
+                    double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
+                    if (spinPos > spinEndPos + 0.03){
+                        spinPos = spinEndPos + 0.03;
+                    }
+                    moveSpindexerToPos(spinPos);
                 }
                 break;
 
             default:
                 // Statements to execute if no case matches
         }
+
+        prevIntakeState = currentIntakeState;
         //TELE.addData("commandedIntakePosition", commandedIntakePosition);
         //TELE.update();
         // Signal a successful intake
         return false;
     }
 
+    public void setDesiredMotif (Types.Motif newMotif) {
+        desiredMotif = newMotif;
+    }
+
+    // Returns the best fit for the motiff
+    public int bestFitMotif () {
+        switch (desiredMotif) {
+            case GPP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 2;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 1;
+                }
+                //break;
+            case PGP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else {
+                    return 2;
+                }
+                //break;
+            case PPG:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 2;
+                }
+                //break;
+            case NONE:
+                return 0;
+                //break;
+        }
+        return 0;
+    }
+
+    void prepareToShootMotif () {
+        commandedIntakePosition = bestFitMotif();
+    }
+
+    public void prepareShootAll(){
+        currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
+    }
+    public void prepareShootAllContinous(){
+        currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
+    }
+    public void shootAll () {
+        ballPositions[0].isEmpty = false;
+        ballPositions[1].isEmpty = false;
+        ballPositions[2].isEmpty = false;
+        currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+    }
+    public void shootAllContinous(){
+        ballPositions[0].isEmpty = false;
+        ballPositions[1].isEmpty = false;
+        ballPositions[2].isEmpty = false;
+        currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+    }
+
+    public boolean shootAllComplete ()
+    {
+        return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTNEXT) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTWAIT) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_PREP_CONTINOUS) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
+    }
+
+    void shootAllToIntake () {
+        currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+    }
+
     public void update()
     {
     }
+
+    public BallColor GetFrontDriverColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
+    }
+
+    public BallColor GetFrontPassengerColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
+    }
+
+    public BallColor GetRearCenterColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
+    }
 }

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

@@ -1,19 +1,222 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import android.provider.Settings;
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
 
 public class Targeting {
+    // 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(2300.0, 0.93);
+        KNOWNTARGETING[0][1] = new Settings(2300.0, 0.93);
+        KNOWNTARGETING[0][2] = new Settings(2500.0, 0.78);
+        KNOWNTARGETING[0][3] = new Settings(2800.0, 0.68);
+        KNOWNTARGETING[0][4] = new Settings(3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings(3000.0, 0.58);
+        // ROW 1
+        KNOWNTARGETING[1][0] = new Settings(2300.0, 0.93);
+        KNOWNTARGETING[1][1] = new Settings(2300.0, 0.93);
+        KNOWNTARGETING[1][2] = new Settings(2600.0, 0.78);
+//        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+//        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+//        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
+        KNOWNTARGETING[1][3] = new Settings(2800.0, 0.68);  // Real settings replaced with (0,3) new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings(3000.0, 0.58);  // Real setting replaced with (0,4)  new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings(3200.0, 0.50);
+        // ROW 2
+//        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
+//        KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
+//        KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
+//        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
+//        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
+//        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][0] = new Settings(2500.0, 0.78);
+        KNOWNTARGETING[2][1] = new Settings(2500.0, 0.78);
+        KNOWNTARGETING[2][2] = new Settings(2700.0, 0.60);
+        KNOWNTARGETING[2][3] = new Settings(2800.0, 0.62);  // Real settings replaced with (1,3) new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings(3000.0, 0.55);  // real settings replaces with (1,4) new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings(3200.0, 0.50);  // real settings replaced with (1,5) new Settings (3100.0, 0.50);
+        // ROW 3
+        KNOWNTARGETING[3][0] = new Settings(2900.0, 0.50);
+        KNOWNTARGETING[3][1] = new Settings(2900.0, 0.50);
+        KNOWNTARGETING[3][2] = new Settings(2900.0, 0.50);
+        KNOWNTARGETING[3][3] = new Settings(3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings(3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings(3100.0, 0.47);
+        // ROW 4
+        KNOWNTARGETING[4][0] = new Settings(3100, 0.49);
+        KNOWNTARGETING[4][1] = new Settings(3100, 0.49);
+        KNOWNTARGETING[4][2] = new Settings(3100, 0.5);
+        KNOWNTARGETING[4][3] = new Settings(3200, 0.5);
+        KNOWNTARGETING[4][4] = new Settings(3250, 0.49);
+        KNOWNTARGETING[4][5] = new Settings(3300, 0.49);
+        // ROW 5
+        KNOWNTARGETING[5][0] = new Settings(3200, 0.48);
+        KNOWNTARGETING[5][1] = new Settings(3200, 0.48);
+        KNOWNTARGETING[5][2] = new Settings(3300, 0.48);
+        KNOWNTARGETING[5][3] = new Settings(3350, 0.48);
+        KNOWNTARGETING[5][4] = new Settings(3350, 0.48);
+        KNOWNTARGETING[5][5] = new Settings(3350, 0.48);
+
+    }
+
+    public final int TILE_UPPER_QUARTILE = 18;
+    public final int TILE_LOWER_QUARTILE = 6;
+    public double robotInchesX, robotInchesY = 0.0;
+    public int robotGridX, robotGridY = 0;
     MultipleTelemetry TELE;
-
-    double unitConversionFactor = 1.02;
-
+    double cancelOffsetX = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
+    double unitConversionFactor = 0.95;
     int tileSize = 24; //inches
 
-    public int robotGridX, robotGridY = 0;
+    public Targeting() {
+    }
+
+    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
+        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 + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
+
+        // Convert robot coordinates to inches
+        robotInchesX = rotatedX * unitConversionFactor;
+        robotInchesY = rotatedY * unitConversionFactor;
+
+        // Find approximate location in the grid
+        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+
+        int remX = Math.floorMod((int) robotInchesX, tileSize);
+        int remY = Math.floorMod((int) robotInchesX, tileSize);
+
+        // Determine if we need to interpolate based on tile position.
+        // if near upper or lower quarter or tile interpolate with next tile.
+        int x0 = 0;
+        int y0 = 0;
+        int x1 = 0;
+        int y1 = 0;
+        interpolate = false;
+        if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+                (robotGridX < 5) && (robotGridY < 5)) {
+            // +X, +Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+                (robotGridX > 0) && (robotGridY > 0)) {
+            // -X, -Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+                (robotGridX < 5) && (robotGridY > 0)) {
+            // +X, -Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+                (robotGridX > 0) && (robotGridY < 5)) {
+            // -X, +Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
+            // -X, Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY;
+        } else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
+            // X, -Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
+            // +X, Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY;
+            y1 = robotGridY;
+        } else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
+            // X, +Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else {
+            interpolate = false;
+        }
+
+        //clamp
+
+        if (redAlliance) {
+            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        } else {
+            robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+            robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        }
+
+        // basic search
+        if (true) { //!interpolate) {
+            if ((robotGridY < 6) && (robotGridX < 6)) {
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.hoodOffset;
+            }
+            return recommendedSettings;
+        } else {
+
+            // bilinear interpolation
+            //int x0 = robotGridX;
+            //int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            //int y0 = robotGridY;
+            //int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+
+//            double x = (robotInchesX - (x0 * tileSize)) / tileSize;
+//            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
+
+//            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
+//            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
+//            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
+//            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
+//
+//            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
+//            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
+//            double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
+//            double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
+
+//            recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
+//            recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
+            // Average target tiles
+            recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM) / 2.0;
+            recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle) / 2.0;
+            return recommendedSettings;
+        }
+    }
 
     public static class Settings {
         public double flywheelRPM = 0.0;
@@ -24,77 +227,4 @@ public class Targeting {
             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;
-    }
 }

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

@@ -0,0 +1,290 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static java.lang.Math.abs;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDController;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+import java.util.List;
+
+@Config
+public class Turret {
+
+    public static double turretTolerance = 0.02;
+    public static double turrPosScalar = 0.00011264432;
+    public static double turret180Range = 0.4;
+    public static double turrDefault = 0.39;
+    public static double turrMin = 0.15;
+    public static double turrMax = 0.85;
+    public static boolean limelightUsed = true;
+
+    public static double manualOffset = 0.0;
+
+    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+    public static double cameraBearingEqual = 0.5;      // Deadband
+
+    // TODO: tune these values for limelight
+
+    public static double clampTolerance = 0.03;
+    public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Limelight3A webcam;
+    double tx = 0.0;
+    double ty = 0.0;
+    double limelightPosX = 0.0;
+    double limelightPosY = 0.0;
+    LLResult result;
+    boolean bearingAligned = false;
+    private boolean lockOffset = false;
+    private int obeliskID = 0;
+    private double offset = 0.0;
+    private double currentTrackOffset = 0.0;
+    private int currentTrackCount = 0;
+    private double permanentOffset = 0.0;
+    private PIDController bearingPID;
+
+    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
+        this.TELE = tele;
+        this.robot = rob;
+        this.webcam = cam;
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
+    }
+
+    public void zeroTurretEncoder() {
+        robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
+
+    }
+
+    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;
+    }
+
+    private void limelightRead() { // only for tracking purposes, not general reads
+
+        result = webcam.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                tx = result.getTx();
+                ty = result.getTy();
+                // MegaTag1 code for receiving position
+                Pose3D botpose = result.getBotpose();
+                if (botpose != null) {
+                    limelightPosX = botpose.getPosition().x;
+                    limelightPosY = botpose.getPosition().y;
+                }
+
+            }
+        }
+    }
+
+    public double getBearing() {
+        tx = 1000;
+        limelightRead();
+        return tx;
+    }
+
+    public double getTy() {
+        return ty;
+    }
+
+    public double getLimelightX() {
+        return limelightPosX;
+    }
+
+    public double getLimelightY() {
+        return limelightPosY;
+    }
+
+    public int detectObelisk() {
+        webcam.pipelineSwitch(1);
+        LLResult result = webcam.getLatestResult();
+        if (result != null && result.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                obeliskID = fiducial.getFiducialId();
+            }
+        }
+        return obeliskID;
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+    public void zeroOffset() {
+        offset = 0.0;
+    }
+
+    public void lockOffset(boolean lock) {
+        lockOffset = lock;
+    }
+
+    /*
+        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
+     */
+
+    private double bearingAlign(LLResult llResult) {
+        double bearingOffset = 0.0;
+        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
+        final double MIN_OFFSET_POWER = 0.15;
+        final double TARGET_POSITION_TOLERANCE = 1.0;
+        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+        final double DRIVE_POWER_REDUCTION = 2.0;
+
+        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
+            bearingAligned = true;
+        } else {
+            bearingAligned = false;
+        }
+
+        // Only with valid data and if too far off target
+        if (llResult.isValid() && !bearingAligned) {
+
+            // Adjust Robot Speed based on how far the target is located
+            // Only drive at half speed max
+            // switched to PID but original formula left for reference in comments
+            //drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
+            bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
+
+//            // Make sure we have enough power to actually drive the wheels
+//            if (abs(bearingOffset) < MIN_OFFSET_POWER) {
+//                if (bearingOffset > 0.0) {
+//                    bearingOffset = MIN_OFFSET_POWER;
+//                } else {
+//                    bearingOffset = -MIN_OFFSET_POWER;
+//                }
+//
+//            }
+        }
+
+        return bearingOffset;
+    }
+
+    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;
+        turretAngleDeg = -turretAngleDeg;
+
+        // Normalize to [-180, 180]
+        while (turretAngleDeg > 180) turretAngleDeg -= 360;
+        while (turretAngleDeg < -180) turretAngleDeg += 360;
+
+
+        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
+        // Update local limelight results
+        //double tagBearingDeg = getBearing();  // + = target is to the left
+        //boolean hasValidTarget = (tagBearingDeg != 1000.0);
+
+        turretAngleDeg += permanentOffset;
+
+        limelightRead();
+        // Active correction if we see the target
+        if (result.isValid() && !lockOffset && limelightUsed) {
+            currentTrackOffset += bearingAlign(result);
+            currentTrackCount++;
+//            double bearingError = Math.abs(tagBearingDeg);
+//
+//            if (bearingError > cameraBearingEqual) {
+//                // Apply sqrt scaling to reduce aggressive corrections at large errors
+//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
+//
+//                // Calculate correction
+//                double offsetChange = visionCorrectionGain * filteredBearing;
+//
+//                // Limit rate of change to prevent jumps
+//                offsetChange = Math.max(-maxOffsetChangePerCycle,
+//                        Math.min(maxOffsetChangePerCycle, offsetChange));
+//
+//                // Accumulate the correction
+//                offset += offsetChange;
+//
+//                TELE.addData("Bearing Error", tagBearingDeg);
+//                TELE.addData("Offset Change", offsetChange);
+//                TELE.addData("Total Offset", offset);
+//            } else {
+//                // When centered, lock in the learned offset
+//                permanentOffset = offset;
+//                offset = 0.0;
+//            }
+        } else {
+            // only store perma update after 20+ successful tracks
+            // this did not work good in testing; only current works best so far.
+//            if (currentTrackCount > 20) {
+//                offset = currentTrackOffset;
+//            }
+            currentTrackOffset = 0.0;
+            currentTrackCount = 0;
+        }
+
+        // Apply accumulated offset
+        turretAngleDeg += offset + currentTrackOffset;
+
+
+        /* ---------------- ANGLE → SERVO POSITION ---------------- */
+
+        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to physical servo limits
+        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
+
+        // Interpolate towards target position
+        double currentPos = getTurrPos();
+        double turretPos = targetTurretPos;
+
+        if (targetTurretPos == turrMin) {
+            turretPos = turrMin;
+        } else if (targetTurretPos == turrMax) {
+            turretPos = turrMax;
+        }
+
+        // Set servo positions
+        robot.turr1.setPosition(turretPos + manualOffset);
+        robot.turr2.setPosition(1.0 - turretPos - manualOffset);
+
+
+        /* ---------------- TELEMETRY ---------------- */
+
+//        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
+//        TELE.addData("Target Pos", "%.3f", targetTurretPos);
+//        TELE.addData("Current Pos", "%.3f", currentPos);
+//        TELE.addData("Commanded Pos", "%.3f", turretPos);
+//        TELE.addData("LL Valid", result.isValid());
+//        TELE.addData("LL getTx", result.getTx());
+//        TELE.addData("LL Offset", offset);
+//        TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+//        TELE.addData("Learned Offset", "%.2f", offset);
+    }
+
+}

build.dependencies.gradle

@@ -29,7 +29,7 @@ dependencies {
     implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
     implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
     implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
-    implementation "com.acmerobotics.dashboard:dashboard:0.4.17" //FTC Dash
+    implementation "com.acmerobotics.dashboard:dashboard:0.5.1" //FTC Dash
 
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
 

build.gradle

@@ -24,6 +24,10 @@ allprojects {
     }
 }
 
+repositories {
     repositories {
         mavenCentral()
+        google()
+        maven { url 'https://maven.pedropathing.com' }
+    }
 }