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

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

@@ -0,0 +1,606 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoClose_V3 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
+    LimelightManager limelightManager;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.1;
+
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
+    double powPID = 0.0;
+    double bearing = 0.0;
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                limelightManager.update();
+                int id = limelightManager.detectFiducial();
+
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
+
+                TELE.addData("Fiducial ID", id);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redClose : turret_blueClose;
+                    double turretPID = servo.setTurrPos(turretTarget);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turretTarget);
+                }
+                return true;
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPower(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = spindexer_intakePos1;
+            double stamp = 0.0;
+            int ticker = 0;
+            double pow = 1.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(pow);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if (!servo.spinEqual(position)){
+                    double spinPID = servo.setSpinPos(position);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
+                }
+
+                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    if (getRuntime() - stamp - intakeTime < 1){
+                        pow = -2*(getRuntime() - stamp - intakeTime);
+                        return true;
+                    } else {
+                        robot.intake.setPower(0);
+                        return false;
+                    }
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 60) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 33) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        flywheel = new FlywheelV2();
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = servo.setTurrPos(turret_detectRedClose);
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
+                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
+
+                shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
+
+                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+            } else {
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+                shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+            }
+
+            robot.turr1.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(AUTO_CLOSE_VEL)
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(AUTO_CLOSE_VEL)
+                    )
+            );
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        limelightManager.update();
+        bearing = limelightManager.getBearing();
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        
+        // Define sequences based on obelisk configuration
+        double[][] sequences = {
+            {1, 2, 3}, {1, 3, 2}, {2, 1, 3}, {2, 3, 1}, {3, 1, 2}, {3, 2, 1}
+        };
+
+        double[] sequence = null;
+        
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[0];      // 1,2,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[2]; // 2,1,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[4]; // 3,1,2
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[0];
+                else if (b2 == 2) sequence = sequences[2];
+                else if (b3 == 2) sequence = sequences[4];
+            } else sequence = sequences[0];
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[2];      // 2,1,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[0]; // 1,2,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[3]; // 2,3,1
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[2];
+                else if (b2 == 2) sequence = sequences[0];
+                else if (b3 == 2) sequence = sequences[3];
+            } else sequence = sequences[2];
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[4];      // 3,1,2
+                else if (b2 == 2 && b1 == b3) sequence = sequences[5]; // 3,2,1
+                else if (b3 == 2 && b1 == b2) sequence = sequences[0]; // 1,2,3
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[4];
+                else if (b2 == 2) sequence = sequences[5];
+                else if (b3 == 2) sequence = sequences[0];
+            } else sequence = sequences[4];
+        } else sequence = sequences[0];
+
+        executeShootingSequence(sequence);
+        TELE.update();
+    }
+
+    private void executeShootingSequence(double[] sequence) {
+        double[] ballPositions = {
+            spindexer_outtakeBall1,
+            spindexer_outtakeBall2,
+            spindexer_outtakeBall3
+        };
+
+        for (double ball : sequence) {
+            Actions.runBlocking(
+                    new SequentialAction(
+                            spindex(ballPositions[(int) ball - 1], AUTO_CLOSE_VEL),
+                            Shoot(AUTO_CLOSE_VEL)
+                    )
+            );
+        }
+    }
+}

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

@@ -1,5 +1,6 @@
 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.*;
@@ -17,40 +18,37 @@ 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.LimelightManager;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
-import java.util.List;
-
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
-public class Red_V3 extends LinearOpMode {
+public class AutoFar_V1 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
     MecanumDrive drive;
     FlywheelV2 flywheel;
     Servos servo;
+    LimelightManager limelightManager;
 
     double velo = 0.0;
-    public static double intake1Time = 2.9;
+    public static double intake1Time = 2.7;
-    public static double intake2Time = 2.9;
+    public static double intake2Time = 3.0;
     public static double colorDetect = 3.0;
-    boolean gpp = false;
+    public static double holdTurrPow = 0.1;
-    boolean pgp = false;
+
-    boolean ppg = false;
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
     double powPID = 0.0;
     double bearing = 0.0;
-    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 Action initShooter(int vel) {
         return new Action() {
@@ -59,7 +57,6 @@ public class Red_V3 extends LinearOpMode {
                 velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
-                robot.transfer.setPower(1);
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
@@ -69,76 +66,36 @@ public class Red_V3 extends LinearOpMode {
         };
     }
 
-    public Action steadyShooter(int vel, boolean last) {
-        return new Action() {
-            double stamp = 0.0;
-            boolean steady = false;
-            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());
-                steady = flywheel.getSteady();
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-                robot.transfer.setPower(1);
-
-                TELE.addData("Velocity", velo);
-                TELE.update();
-                detectTag();
-
-                if (last && !steady) {
-                    stamp = getRuntime();
-                    drive.updatePoseEstimate();
-                    teleStart = drive.localizer.getPose();
-                    return false;
-                } else if (steady) {
-                    stamp = getRuntime();
-                    return true;
-                } else {
-                    return true;
-                }
-            }
-        };
-    }
-
     public Action Obelisk() {
         return new Action() {
-            int id = 0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                LLResult result = robot.limelight.getLatestResult();
+                limelightManager.update();
-                if (result != null && result.isValid()) {
+                int id = limelightManager.detectFiducial();
-                    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;
 
-                if (id == 21){
+                TELE.addData("Fiducial ID", id);
-                    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) {
-                    double turretPID = servo.setTurrPos(turret_red);
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
+                    double turretPID = servo.setTurrPos(turretTarget);
                     robot.turr1.setPower(turretPID);
                     robot.turr2.setPower(-turretPID);
-                    robot.limelight.pipelineSwitch(3);
+                    return !servo.turretEqual(turretTarget);
-                    return !servo.turretEqual(turret_red);
-                } else {
-                    return true;
                 }
+                return true;
             }
         };
     }
@@ -148,11 +105,11 @@ public class Red_V3 extends LinearOpMode {
             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);
@@ -163,7 +120,13 @@ public class Red_V3 extends LinearOpMode {
                 drive.updatePoseEstimate();
                 teleStart = drive.localizer.getPose();
 
-                return !servo.spinEqual(spindexer);
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
             }
         };
     }
@@ -201,9 +164,10 @@ public class Red_V3 extends LinearOpMode {
                     TELE.update();
                     transferIn = true;
                     return true;
-                } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut &&
+                } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
-                           transferIn) {
                     robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPower(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
                     TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
@@ -218,9 +182,10 @@ public class Red_V3 extends LinearOpMode {
 
     public Action intake(double intakeTime) {
         return new Action() {
-            double position = 0.0;
+            double position = spindexer_intakePos1;
             double stamp = 0.0;
             int ticker = 0;
+            double pow = 1.0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -229,17 +194,38 @@ public class Red_V3 extends LinearOpMode {
                 }
                 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 ((getRuntime() % 0.3) > 0.15) {
+                if (!servo.spinEqual(position)){
-                    position = spindexer_intakePos1 + 0.02;
+                    double spinPID = servo.setSpinPos(position);
-                } else {
+                    robot.spin1.setPower(spinPID);
-                    position = spindexer_intakePos1 - 0.02;
+                    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();
                 }
-                robot.spin1.setPower(position);
-                robot.spin2.setPower(1 - position);
 
                 TELE.addData("Velocity", velo);
                 TELE.addLine("Intaking");
@@ -250,8 +236,16 @@ public class Red_V3 extends LinearOpMode {
                 teleStart = drive.localizer.getPose();
 
                 robot.intake.setPower(1);
-                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
-                    return false;
+                    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;
                 }
@@ -259,11 +253,10 @@ public class Red_V3 extends LinearOpMode {
         };
     }
 
-    public Action intakeReject() {
+    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) {
@@ -271,36 +264,10 @@ public class Red_V3 extends LinearOpMode {
                 }
                 ticker++;
 
-                if (getRuntime() - stamp < 0.3) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                    return true;
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                } else {
+                robot.shooter1.setPower(powPID);
-                    robot.intake.setPower(0);
+                robot.shooter2.setPower(powPID);
-                    return false;
-                }
-            }
-        };
-    }
-
-    public Action ColorDetect() {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-            double position = 0.0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.02;
-                } else {
-                    position = spindexer_intakePos1 - 0.02;
-                }
-                robot.spin1.setPower(position);
-                robot.spin2.setPower(1 - position);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -310,7 +277,7 @@ public class Red_V3 extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                if (s1D < 40) {
+                if (s1D < 43) {
 
                     double green = robot.color1.getNormalizedColors().green;
                     double red = robot.color1.getNormalizedColors().red;
@@ -325,7 +292,7 @@ public class Red_V3 extends LinearOpMode {
                     }
                 }
 
-                if (s2D < 40) {
+                if (s2D < 60) {
 
                     double green = robot.color2.getNormalizedColors().green;
                     double red = robot.color2.getNormalizedColors().red;
@@ -340,7 +307,7 @@ public class Red_V3 extends LinearOpMode {
                     }
                 }
 
-                if (s3D < 30) {
+                if (s3D < 33) {
 
                     double green = robot.color3.getNormalizedColors().green;
                     double red = robot.color3.getNormalizedColors().red;
@@ -374,38 +341,18 @@ public class Red_V3 extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
 
         robot = new Robot(hardwareMap);
-
         flywheel = new FlywheelV2();
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
 
-        TELE = new MultipleTelemetry(
+        //TODO: add positions to develop auto
-                telemetry, FtcDashboard.getInstance().getTelemetry()
+        
-        );
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
-
+                .strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
-        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(rx1, ry1), rh1);
-
-        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
-                .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
-
-        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-
-                .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
-
-                .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
-
-        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
-                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
 
         while (opModeInInit()) {
 
@@ -417,15 +364,28 @@ public class Red_V3 extends LinearOpMode {
                 hoodAuto += 0.01;
             }
 
-            robot.hood.setPosition(hoodAuto);
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = servo.setTurrPos(turret_detectRedClose);
+            } else {
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
+            }
+
+            robot.turr1.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAutoFar);
 
             robot.transferServo.setPosition(transferServo_out);
 
-            robot.spin1.setPower(spindexer_intakePos1);
-            robot.spin2.setPower(1 - spindexer_intakePos1);
-
             TELE.addData("Velocity", velo);
             TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
             TELE.update();
         }
 
@@ -435,12 +395,9 @@ public class Red_V3 extends LinearOpMode {
 
         if (opModeIsActive()) {
 
-            robot.hood.setPosition(hoodAuto);
-
             Actions.runBlocking(
                     new ParallelAction(
-                            shoot0.build(),
+                            initShooter(AUTO_FAR_VEL),
-                            initShooter(AUTO_CLOSE_VEL),
                             Obelisk()
                     )
             );
@@ -448,78 +405,17 @@ public class Red_V3 extends LinearOpMode {
 
             teleStart = drive.localizer.getPose();
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+            robot.transfer.setPower(1);
-            velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
 
             shootingSequence();
 
-            robot.hood.setPosition(hoodAuto);
+            robot.transfer.setPower(0);
 
             drive.updatePoseEstimate();
 
             teleStart = drive.localizer.getPose();
-
+            
-            Actions.runBlocking(
+            Actions.runBlocking(park.build());
-                    new ParallelAction(
-                            pickup1.build(),
-                            intake(intake1Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot1.build(),
-                            ColorDetect(),
-                            steadyShooter(AUTO_CLOSE_VEL, true),
-                            intakeReject()
-                    )
-            );
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-            velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
-
-            shootingSequence();
-            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(),
-                            steadyShooter(AUTO_CLOSE_VEL, true),
-                            intakeReject()
-
-                    )
-            );
-
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-            velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
-
-            shootingSequence();
 
             drive.updatePoseEstimate();
 
@@ -534,14 +430,10 @@ public class Red_V3 extends LinearOpMode {
         }
 
     }
-    //TODO: adjust this
+    //TODO: adjust this according to Teleop numbers
     public void detectTag() {
-        LLResult result = robot.limelight.getLatestResult();
+        limelightManager.update();
-        if (result != null) {
+        bearing = limelightManager.getBearing();
-            if (result.isValid()) {
-                bearing = result.getTx();
-            }
-        }
         double turretPos = servo.getTurrPos() - (bearing / 1300);
         double turretPID = servo.setTurrPos(turretPos);
         robot.turr1.setPower(turretPID);
@@ -650,12 +542,12 @@ public class Red_V3 extends LinearOpMode {
     public void sequence1() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -663,12 +555,12 @@ public class Red_V3 extends LinearOpMode {
     public void sequence2() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -676,13 +568,12 @@ public class Red_V3 extends LinearOpMode {
     public void sequence3() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
-
+                        Shoot(AUTO_FAR_VEL)
-                        Shoot(AUTO_CLOSE_VEL)
                 )
         );
     }
@@ -690,12 +581,12 @@ public class Red_V3 extends LinearOpMode {
     public void sequence4() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -703,12 +594,12 @@ public class Red_V3 extends LinearOpMode {
     public void sequence5() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }
@@ -716,12 +607,12 @@ public class Red_V3 extends LinearOpMode {
     public void sequence6() {
         Actions.runBlocking(
                 new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                        Shoot(AUTO_FAR_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
+                        Shoot(AUTO_FAR_VEL)
                 )
         );
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue_V2.java

@@ -178,8 +178,8 @@ public class Blue_V2 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    robot.turr1.setPower(turret_blue);
+                    robot.turr1.setPower(turret_blueClose);
-                    robot.turr2.setPower(1 - turret_blue);
+                    robot.turr2.setPower(1 - turret_blueClose);
                     return false;
                 } else {
                     return true;
@@ -541,8 +541,8 @@ public class Blue_V2 extends LinearOpMode {
 
             robot.hood.setPosition(hoodAuto);
 
-            robot.turr1.setPower(turret_detectBlue);
+            robot.turr1.setPower(turret_detectBlueClose);
-            robot.turr2.setPower(1 - turret_detectBlue);
+            robot.turr2.setPower(1 - turret_detectBlueClose);
 
             robot.transferServo.setPosition(transferServo_out);
 

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

@@ -169,10 +169,10 @@ public class Red_V2 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    double turretPID = servo.setTurrPos(turret_red);
+                    double turretPID = servo.setTurrPos(turret_redClose);
                     robot.turr1.setPower(turretPID);
                     robot.turr2.setPower(-turretPID);
-                    return !servo.turretEqual(turret_red);
+                    return !servo.turretEqual(turret_redClose);
                 } else {
                     return true;
                 }

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

@@ -12,40 +12,22 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
-    public static double x1 = 50, y1 = 0, h1 = 0;
-
-    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
-
-    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
-
-    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
-
-    public static double tx = 0, ty = 0, th = 0;
-
     public static Pose2d goalPose = new Pose2d(-15, 0, 0);
 
-
-
     public static double rx1 = 45, ry1 = -7, rh1 = 0;
-
     public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
-
     public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
-
     public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
-
     public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
 
     public static double bx1 = 45, by1 = 6, bh1 = 0;
-
     public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
-
     public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
-
     public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
-
     public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
 
+    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
+
     public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
 
 }

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

@@ -26,16 +26,20 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.55;
 
-    public static double hoodHigh = 0.21;
+    public static double hoodAutoFar = 0.5; //TODO: change this;
 
-    public static double hoodLow = 1.0;
+    public static double hoodHigh = 0.21; //TODO: change this;
 
-    public static double turret_red = 0.42;
+    public static double hoodLow = 1.0; //TODO: change this;
-    public static double turret_blue = 0.38;
 
-    public static double turret_detectRed = 0.2;
+    public static double turret_redClose = 0.42;
+    public static double turret_blueClose = 0.38;
+    public static double turret_redFar = 0.5; //TODO: change this
+    public static double turret_blueFar = 0.5; // TODO: change this
 
-    public static double turret_detectBlue = 0.6;
+    public static double turret_detectRedClose = 0.2;
+
+    public static double turret_detectBlueClose = 0.6;
     public static double turrDefault = 0.40;
 
 }

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

@@ -20,4 +20,5 @@ public class ShooterVars {
 
     // VELOCITY CONSTANTS
     public static int AUTO_CLOSE_VEL = 3025; //3300;
+    public static int AUTO_FAR_VEL = 4000; //TODO: test this
 }

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

@@ -9,7 +9,6 @@ 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.limelightvision.LLResult;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -17,6 +16,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
@@ -31,6 +31,7 @@ public class TeleopV3 extends LinearOpMode {
     Servos servo;
     Flywheel flywheel;
     MecanumDrive drive;
+    LimelightManager limelightManager;
 
     public static double manualVel = 3000;
     public static double hoodDefaultPos = 0.5;
@@ -101,15 +102,15 @@ public class TeleopV3 extends LinearOpMode {
         servo = new Servos(hardwareMap);
         flywheel = new Flywheel();
         drive = new MecanumDrive(hardwareMap, teleStart);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
 
         if (redAlliance) {
-            robot.limelight.pipelineSwitch(3);
+            limelightManager.switchMode(LimelightManager.LimelightMode.RED_GOAL);
         } else {
-            robot.limelight.pipelineSwitch(2);
+            limelightManager.switchMode(LimelightManager.LimelightMode.BLUE_GOAL);
         }
 
-        robot.limelight.start();
-
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()) {
@@ -304,30 +305,26 @@ public class TeleopV3 extends LinearOpMode {
             }
 
             if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1) { //not moving
-                double bearing;
+                limelightManager.update();
+                double bearing = limelightManager.getBearing();
+                
+                if (limelightManager.getLatestResult() != null && limelightManager.getLatestResult().isValid()) {
+                    overrideTurr = true;
+                    turretPos = servo.getTurrPos() - (bearing / 1300);
 
-                LLResult result = robot.limelight.getLatestResult();
+                    double bearingCorrection = bearing / 1300;
-                if (result != null) {
-                    if (result.isValid()) {
-                        bearing = result.getTx();
-                        overrideTurr = true;
-                        turretPos = servo.getTurrPos() - (bearing / 1300);
 
-                        double bearingCorrection = bearing / 1300;
+                    // deadband: ignore tiny noise
-
+                    if (Math.abs(bearing) > 0.3 && camTicker < 8) {
-                        // deadband: ignore tiny noise
+                        // only accumulate if bearing direction is consistent
-                        if (Math.abs(bearing) > 0.3 && camTicker < 8) {
+                        if (Math.signum(bearingCorrection) == Math.signum(error) ||
-
+                            error == 0) {
-                            // only accumulate if bearing direction is consistent
+                            error += bearingCorrection;
-                            if (Math.signum(bearingCorrection) == Math.signum(error) ||
-                                error == 0) {
-                                error += bearingCorrection;
-                            }
                         }
-                        camTicker++;
-                        TELE.addData("tx", bearing);
-                        TELE.addData("ty", result.getTy());
                     }
+                    camTicker++;
+                    TELE.addData("tx", bearing);
+                    TELE.addData("ty", limelightManager.getLatestResult().getTy());
                 }
 
             } else {

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

@@ -205,7 +205,6 @@ public class IntakeTest extends LinearOpMode {
         }
     }
 
-
     boolean ballIn(int slot) {
         List<Double> times;
 

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

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