New Spindexer Positions after repair.

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

@@ -1,43 +1,48 @@
 package org.firstinspires.ftc.teamcode.autonomous;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+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.bh2c;
 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.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.bx2c;
 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.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.by2c;
 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.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.rh2c;
 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.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.rx2c;
 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.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.ry2c;
 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.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
@@ -48,6 +53,7 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferSe
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
 import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
+import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
 
 import androidx.annotation.NonNull;
 
@@ -60,6 +66,7 @@ import com.acmerobotics.roadrunner.ParallelAction;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.hardware.limelightvision.LLResult;
@@ -69,7 +76,7 @@ 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.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
@@ -82,15 +89,17 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     public static double intake2Time = 3.0;
     public static double colorDetect = 3.0;
     public static double holdTurrPow = 0.01; // power to hold turret in place
+    public static double slowSpeed = 30.0;
     Robot robot;
     MultipleTelemetry TELE;
     MecanumDrive drive;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
     Servos servo;
     double velo = 0.0;
     boolean gpp = false;
     boolean pgp = false;
     boolean ppg = false;
+    public static double spinUnjamTime = 0.6;
     double powPID = 0.0;
     double bearing = 0.0;
     int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
@@ -100,10 +109,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
@@ -171,10 +178,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             @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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 spinPID = servo.setSpinPos(spindexer);
                 robot.spin1.setPower(spinPID);
@@ -207,6 +212,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
             boolean zeroPassed = false;
             double currentPos = 0.0;
             double prevPos = 0.0;
+            double stamp = 0.0;
 
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
@@ -214,68 +220,86 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
 
+                robot.intake.setPower(-0.3);
+
                 if (ticker == 1) {
-                    robot.transferServo.setPosition(transferServo_in);
-                    initPos = servo.getSpinPos();
-
-                    finalPos = initPos + 0.6;
-
-                    if (finalPos > 1.0) {
-                        finalPos = finalPos - 1;
-                        zeroNeeded = true;
-                    } else if (finalPos > 0.95) {
-                        finalPos = 0.0;
-                        zeroNeeded = true;
-                    }
-                    currentPos = initPos;
+                    stamp = getRuntime();
                 }
                 ticker++;
 
-                if (ticker > 16) {
-                    robot.spin1.setPower(0.08);
-                    robot.spin2.setPower(-0.08);
-                }
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < 2.7) {
+
+                    robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+                    return true;
 
-                prevPos = currentPos;
-                currentPos = servo.getSpinPos();
-                if (zeroNeeded) {
-                    if (currentPos - prevPos < -0.5) {
-                        zeroPassed = true;
-                    }
-                    if (zeroPassed) {
-                        if (currentPos > finalPos) {
-                            robot.spin1.setPower(0);
-                            robot.spin2.setPower(0);
-                            return false;
-                        } else {
-                            return true;
-                        }
-                    } else {
-                        return true;
-                    }
                 } else {
-                    if (currentPos > finalPos) {
-                        robot.spin1.setPower(0);
-                        robot.spin2.setPower(0);
-                        return false;
-                    } else {
-                        return true;
-                    }
+                    robot.transferServo.setPosition(transferServo_out);
+                    return false;
                 }
 
             }
         };
     }
 
+    public Action spindexUnjam(double jamTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+
+
+                ticker++;
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+
+                if (ticker % 12 < 6) {
+
+                    robot.spin1.setPower(-1);
+                    robot.spin2.setPower(1);
+
+                } else {
+                    robot.spin1.setPower(1);
+                    robot.spin2.setPower(-1);
+                }
+
+                if (getRuntime() - stamp > jamTime+0.4) {
+
+                    robot.intake.setPower(0.5);
+
+                    return false;
+                }
+                else if (getRuntime() - stamp > jamTime) {
+
+                    robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
+
+                    return true;
+                }
+
+                else {
+                    robot.intake.setPower(1);
+                    return true;
+                }
+            }
+        };
+    }
+
     public Action intake(double intakeTime) {
         return new Action() {
             double stamp = 0.0;
@@ -291,17 +315,22 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 }
                 ticker++;
 
-                if (ticker % 12 < 3) {
+                if (ticker % 60 < 12) {
 
                     robot.spin1.setPower(-1);
                     robot.spin2.setPower(1);
 
-                } else if (reverse) {
+                } else if (ticker % 60 < 30) {
+                    robot.spin1.setPower(-0.5);
+                    robot.spin2.setPower(0.5);
+                }
+                else if (ticker % 60 < 42) {
                     robot.spin1.setPower(1);
                     robot.spin2.setPower(-1);
-                } else {
-                    robot.spin1.setPower(-0.15);
-                    robot.spin2.setPower(0.15);
+                }
+                else {
+                    robot.spin1.setPower(0.5);
+                    robot.spin2.setPower(-0.5);
                 }
                 robot.intake.setPower(1);
                 TELE.addData("Reverse?", reverse);
@@ -319,9 +348,10 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 } else {
                     if (ticker % 4 == 0) {
                         spinCurrentPos = servo.getSpinPos();
-                        reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.02;
+                        reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
                         spinInitPos = spinCurrentPos;
                     }
+
                     return true;
                 }
             }
@@ -340,10 +370,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
                 }
                 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);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -418,7 +446,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
         robot = new Robot(hardwareMap);
 
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
 
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -438,24 +466,27 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
         TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                 .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
+                new TranslationalVelConstraint(slowSpeed));
+//
+//        TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+//                .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
 
-        TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
-                .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
-
-        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
+        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);
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                        new TranslationalVelConstraint(slowSpeed));
 
         TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
         TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                 .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
-                .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b);
+                .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
+                        new TranslationalVelConstraint(slowSpeed));
         TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
 
@@ -471,6 +502,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             if (gamepad2.crossWasPressed()) {
                 redAlliance = !redAlliance;
+
             }
 
             double turretPID;
@@ -482,26 +514,29 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
                         .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
-                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
+                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
+                                new TranslationalVelConstraint(slowSpeed));
 
-                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
+//                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+//                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
 
-                shoot1 = drive.actionBuilder(new Pose2d(rx2c, ry2c, rh2c))
+                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);
+                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
+                                new TranslationalVelConstraint(slowSpeed));
 
                 shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
 
-                pickup3 = drive.actionBuilder(new Pose2d(rx1,ry1, rh1))
+                pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
                         .strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
-                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b);
-                shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
+                                new TranslationalVelConstraint(slowSpeed));
+                shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
 
             } else {
                 turretPID = turret_blueClose;
@@ -511,17 +546,26 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
                         .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
+                                new TranslationalVelConstraint(slowSpeed));
 
-                shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
+                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);
+                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                                new TranslationalVelConstraint(slowSpeed));
 
                 shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
+                        .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
+                                new TranslationalVelConstraint(slowSpeed));
+                shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
             }
 
             robot.turr1.setPosition(turretPID);
@@ -573,8 +617,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             Actions.runBlocking(
                     new SequentialAction(
-                            lever.build(),
-                            shoot1.build()
+                            shoot1.build(),
+                            spindexUnjam(spinUnjamTime)
+
                     )
             );
 
@@ -604,7 +649,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             Actions.runBlocking(
                     new ParallelAction(
-                            shoot2.build()
+                            shoot2.build(),
+                            spindexUnjam(spinUnjamTime)
                     )
             );
 
@@ -630,7 +676,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             Actions.runBlocking(
                     new ParallelAction(
-                            shoot3.build()
+                            shoot3.build(),
+                            spindexUnjam(spinUnjamTime)
+
                     )
             );
 

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

@@ -14,28 +14,28 @@ public class Poses {
 
     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 rx1 = 40, ry1 = -7, rh1 = 0;
+    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 rx2c = 34, ry2c = 50, rh2c = 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 rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
+    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
 
-    public static double rx4a = 71, ry4a = 60, rh4a = Math.toRadians(140);
-    public static double rx4b = 79, ry4b = 79, rh4b = 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 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 bx2c = 40, by2c = -50, bh2c = 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 bx2c = 34, by2c = -50, bh2c = 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 bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
+    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
 
-    public static double bx4a = 69, by4a = -60, bh4a = Math.toRadians(-140);
-    public static double bx4b = 75, by4b = -79, bh4b = 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 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

@@ -5,16 +5,16 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.39;
+    public static double spindexer_intakePos1 = 0.19;
 
-    public static double spindexer_intakePos2 = 0.5;
+    public static double spindexer_intakePos2 = 0.35;//0.5;
 
-    public static double spindexer_intakePos3 = 0.66;
+    public static double spindexer_intakePos3 = 0.51;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.42;
+    public static double spindexer_outtakeBall3 = 0.47;
 
-    public static double spindexer_outtakeBall2 = 0.74;
-    public static double spindexer_outtakeBall1 = 0.58;
+    public static double spindexer_outtakeBall2 = 0.31;
+    public static double spindexer_outtakeBall1 = 0.15;
 
     public static double transferServo_out = 0.15;
 
@@ -24,7 +24,7 @@ public class ServoPositions {
 
     public static double hoodDefault = 0.6;
 
-    public static double hoodAuto = 0.55;
+    public static double hoodAuto = 0.27;
 
     public static double hoodAutoFar = 0.5; //TODO: change this;
 

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

@@ -19,6 +19,6 @@ public class ShooterVars {
     public static double maxStep = 0.06;         // prevents sudden jumps
 
     // VELOCITY CONSTANTS
-    public static int AUTO_CLOSE_VEL = 3025; //3300;
+    public static int AUTO_CLOSE_VEL = 3175; //3300;
     public static int AUTO_FAR_VEL = 4000; //TODO: test this
 }

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

@@ -129,7 +129,7 @@ public class TeleopV2 extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
         servo = new Servos(hardwareMap);
-        flywheel = new Flywheel();
+        flywheel = new Flywheel(hardwareMap);
 
         drive = new MecanumDrive(hardwareMap, teleStart);
 
@@ -282,12 +282,9 @@ public class TeleopV2 extends LinearOpMode {
 
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
+            double powPID = flywheel.manageFlywheel((int) vel);
 
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
-
-            robot.transfer.setPower(1);
+             robot.transfer.setPower(1);
 
             //TURRET:
 

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

@@ -21,6 +21,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.arcrobotics.ftclib.controller.PIDFController;
+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;
@@ -28,9 +29,10 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 
 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.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -45,10 +47,10 @@ public class TeleopV3 extends LinearOpMode {
     public static double shootStamp2 = 0.0;
     public static double spinningPow = 0.2;
     public static double spindexPos = spindexer_intakePos1;
-    public static double spinPow = 0.08;
-    public static double bMult = -1, bDiv = 130000;
+    public static double spinPow = 0.09;
+    public static double bMult = 1, bDiv = 2200;
     public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
-    public static boolean manualTurret = false;
+    public static boolean manualTurret = true;
     public double vel = 3000;
     public boolean autoVel = true;
     public double manualOffset = 0.0;
@@ -67,8 +69,9 @@ public class TeleopV3 extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
     Servos servo;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
     MecanumDrive drive;
+    Spindexer spindexer;
     double autoHoodOffset = 0.0;
 
     int shooterTicker = 0;
@@ -93,7 +96,8 @@ public class TeleopV3 extends LinearOpMode {
     boolean shootA = true;
     boolean shootB = true;
     boolean shootC = true;
-    boolean autoSpintake = true;
+    boolean autoSpintake = false;
+    boolean enableSpindexerManager = true;
     List<Integer> shootOrder = new ArrayList<>();
     boolean outtake1 = false;
     boolean outtake2 = false;
@@ -139,15 +143,14 @@ public class TeleopV3 extends LinearOpMode {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
         drive = new MecanumDrive(hardwareMap, teleStart);
+        spindexer = new Spindexer(hardwareMap);
 
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
         tController.setTolerance(0.001);
 
-
-
         if (redAlliance) {
             robot.limelight.pipelineSwitch(3);
         } else {
@@ -234,31 +237,24 @@ public class TeleopV3 extends LinearOpMode {
 
                 if (gamepad1.right_bumper) {
 
-                    robot.transferServo.setPosition(transferServo_out);
                     intakeTicker++;
 
-                    if (intakeTicker % 4 == 0) {
-                        spinCurrentPos = servo.getSpinPos();
-                        if (Math.abs(spinCurrentPos - spinInitPos) < 0.02) {
-                            reverse = true;
-                        } else {
-                            reverse = false;
-                        }
-                        spinInitPos = spinCurrentPos;
-                    }
-
-                    if (intakeTicker % 12 < 3) {
+                    if (intakeTicker % 20 < 2) {
 
                         robot.spin1.setPower(-1);
                         robot.spin2.setPower(1);
 
-                    } else if (reverse) {
+                    } else if (intakeTicker % 20 < 10) {
+                        robot.spin1.setPower(-0.5);
+                        robot.spin2.setPower(0.5);
+                    } else if (intakeTicker % 20 < 12) {
                         robot.spin1.setPower(1);
                         robot.spin2.setPower(-1);
                     } else {
-                        robot.spin1.setPower(-spinningPow);
-                        robot.spin2.setPower(spinningPow);
+                        robot.spin1.setPower(0.5);
+                        robot.spin2.setPower(-0.5);
                     }
+
                     robot.intake.setPower(1);
                     intakeStamp = getRuntime();
                     TELE.addData("Reverse?", reverse);
@@ -386,7 +382,7 @@ public class TeleopV3 extends LinearOpMode {
 
             desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
 
-            desiredTurretAngle += manualOffset;
+            desiredTurretAngle += manualOffset + error;
 
             offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
 
@@ -406,13 +402,9 @@ public class TeleopV3 extends LinearOpMode {
                 pos = 0.83;
             }
 
-
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-
-            robot.shooter1.setPower(powPID);
-            robot.shooter2.setPower(powPID);
+            flywheel.manageFlywheel(vel);
 
             //VELOCITY AUTOMATIC
 
@@ -440,67 +432,56 @@ public class TeleopV3 extends LinearOpMode {
 
             //TODO: test the camera teleop code
 
-
             TELE.addData("posS2", pos);
 
-//            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
-//                double bearing;
-//
-//                LLResult result = robot.limelight.getLatestResult();
-//                if (result != null) {
-//                    if (result.isValid()) {
-//                        bearing = result.getTx() * bMult;
-//                        overrideTurr = true;
-//
-//                        double bearingCorrection = bearing / bDiv;
-//
-//                        // deadband: ignore tiny noise
-//                        if (Math.abs(bearing) > 0.3 && camTicker < 8) {
-//
-//                            error += bearingCorrection;
-//
-//                        }
-//                        camTicker++;
-//                        TELE.addData("tx", bearing);
-//                        TELE.addData("ty", result.getTy());
-//                    }
-//                }
-//
-//            } else {
-//                camTicker = 0;
-//                overrideTurr = false;
-//            }
+            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
+                double bearing;
+
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null) {
+                    if (result.isValid()) {
+                        bearing = result.getTx() * bMult;
+
+                        double bearingCorrection = bearing / bDiv;
+
+                        error += bearingCorrection;
+
+                        camTicker++;
+                        TELE.addData("tx", bearingCorrection);
+                        TELE.addData("ty", result.getTy());
+                    }
+                }
+
+            } else {
+                camTicker = 0;
+                overrideTurr = false;
+            }
 
             if (!overrideTurr) {
                 turretPos = pos;
             }
 
-
-
-
             TELE.addData("posS3", turretPos);
 
             if (manualTurret) {
-                pos = turrDefault + (manualOffset / 100);
+                pos = turrDefault + (manualOffset / 100) + error;
             }
 
             if (!overrideTurr) {
                 turretPos = pos;
             }
 
-            if (gamepad2.dpad_right || gamepad1.dpad_right) {
-                manualOffset -= 2;
-            } else if (gamepad2.dpad_left || gamepad1.dpad_left) {
-                manualOffset += 2;
+            if (Math.abs(gamepad2.left_stick_x)>0.2) {
+                manualOffset += 1.35 * gamepad2.left_stick_x;
             }
 
             robot.turr1.setPosition(pos);
-            robot.turr2.setPosition(1-pos);
+            robot.turr2.setPosition(1 - pos);
 
             //HOOD:
 
             if (autoHood) {
-                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
+                robot.hood.setPosition(0.15 + hoodOffset);
             } else {
                 robot.hood.setPosition(hoodDefaultPos + hoodOffset);
             }
@@ -518,7 +499,7 @@ public class TeleopV3 extends LinearOpMode {
 
             if (gamepad2.cross) {
                 manualOffset = 0;
-                fixedTurret = true;
+                overrideTurr = true;
             }
 
             if (gamepad2.squareWasPressed()) {
@@ -552,26 +533,45 @@ public class TeleopV3 extends LinearOpMode {
 //                }
 //            }
 
-            if (gamepad1.leftBumperWasPressed()) {
+            if (gamepad1.left_bumper && !enableSpindexerManager) {
 
                 robot.transferServo.setPosition(transferServo_out);
 
                 autoSpintake = false;
 
-                robot.spin1.setPower(1);
-                robot.spin2.setPower(-1);
+                intakeTicker++;
+
+                if (intakeTicker % 10 < 1) {
+
+                    robot.spin1.setPower(-1);
+                    robot.spin2.setPower(1);
+
+                } else if (intakeTicker % 10 < 5) {
+                    robot.spin1.setPower(-0.5);
+                    robot.spin2.setPower(0.5);
+                } else if (intakeTicker % 10 < 6) {
+                    robot.spin1.setPower(1);
+                    robot.spin2.setPower(-1);
+                } else {
+                    robot.spin1.setPower(0.5);
+                    robot.spin2.setPower(-0.5);
+                }
+
+                intake = false;
+                reject = false;
+
+                robot.intake.setPower(0.5);
 
             }
 
-            if (gamepad1.leftBumperWasReleased()) {
+            if (gamepad1.leftBumperWasReleased() && !enableSpindexerManager) {
                 shootStamp = getRuntime();
                 shootAll = true;
-                spindexPos = spindexer_intakePos1;
 
                 shooterTicker = 0;
             }
 
-            if (shootAll) {
+            if (shootAll && !enableSpindexerManager) {
 
                 TELE.addData("100% works", shootOrder);
 
@@ -603,6 +603,127 @@ public class TeleopV3 extends LinearOpMode {
                 }
 
             }
+
+            if (enableSpindexerManager) {
+                if (!shootAll) {
+                    spindexer.processIntake();
+                }
+
+                // RIGHT_BUMPER
+                if (gamepad1.right_bumper) {
+                    robot.intake.setPower(1);
+
+                } else {
+                    robot.intake.setPower(0);
+                }
+
+                // LEFT_BUMPER
+                if (!shootAll &&
+                        (gamepad1.leftBumperWasReleased() ||
+                                gamepad1.leftBumperWasPressed() ||
+                                gamepad1.left_bumper)) {
+                    shootStamp = getRuntime();
+                    shootAll = true;
+
+                    shooterTicker = 0;
+                }
+
+                if (shootAll) {
+
+                    intake = false;
+                    reject = false;
+
+                    shooterTicker++;
+
+                    // TODO: Change starting position based on desired order to shoot green ball
+                    spindexPos = spindexer_intakePos1;
+
+                    if (getRuntime() - shootStamp < 3.5) {
+
+                        robot.transferServo.setPosition(transferServo_in);
+
+                        robot.spin1.setPower(-spinPow);
+                        robot.spin2.setPower(spinPow);
+
+                    } else {
+                        robot.transferServo.setPosition(transferServo_out);
+                        //spindexPos = spindexer_intakePos1;
+
+                        shootAll = false;
+
+                        robot.transferServo.setPosition(transferServo_out);
+
+                        spindexer.resetSpindexer();
+                        spindexer.processIntake();
+                    }
+                }
+            }
+
+
+//
+//            if (shootAll) {
+//
+//                TELE.addData("100% works", shootOrder);
+//
+//                intake = false;
+//                reject = false;
+//
+//                shooterTicker++;
+//
+//                spindexPos = spindexer_intakePos1;
+//
+//                if (getRuntime() - shootStamp < 1) {
+//
+//                    if (servo.spinEqual(spindexer_outtakeBall3) || ((getRuntime()-shootStamp)>0.4)){
+//                        robot.transferServo.setPosition(transferServo_in);
+//
+//                    } else {
+//                        robot.transferServo.setPosition(transferServo_out);
+//
+//                    }
+//
+//
+//                    autoSpintake = true;
+//
+//                    spindexPos = spindexer_outtakeBall3;
+//                    robot.intake.setPower(0.5);
+//
+//                }
+//
+//                else if (getRuntime() - shootStamp < 1.8) {
+//
+//                    robot.transferServo.setPosition(transferServo_in);
+//
+//                    autoSpintake = true;
+//                    robot.intake.setPower(0);
+//
+//                    spindexPos = spindexer_outtakeBall2;
+//
+//                }
+//                else if (getRuntime() - shootStamp < 2.6) {
+//
+//                    robot.transferServo.setPosition(transferServo_in);
+//
+//                    autoSpintake = false;
+//
+//                    robot.spin1.setPower(1);
+//                    robot.spin2.setPower(-1);
+//
+//                }
+//
+//                else {
+//                    robot.transferServo.setPosition(transferServo_out);
+//                    spindexPos = spindexer_intakePos1;
+//
+//                    shootAll = false;
+//
+//                    autoSpintake = true;
+//
+//                    robot.transferServo.setPosition(transferServo_out);
+//                }
+//
+//            }
+
 //                if (gamepad1.squareWasPressed()) {
 //                    square = true;
 //                    shootStamp = getRuntime();
@@ -705,7 +826,6 @@ public class TeleopV3 extends LinearOpMode {
 //                }
 
             //EXTRA STUFFINESS:
-
             drive.updatePoseEstimate();
 
             for (LynxModule hub : allHubs) {
@@ -721,15 +841,20 @@ public class TeleopV3 extends LinearOpMode {
             TELE.addData("distanceToGoal", distanceToGoal);
             TELE.addData("hood", robot.hood.getPosition());
             TELE.addData("targetVel", vel);
-            TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
-
+            TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("shootOrder", shootOrder);
             TELE.addData("oddColor", oddBallColor);
 
             TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
+            TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
+            TELE.addData("spinIntakeState", spindexer.currentIntakeState);
+            TELE.addData("spinTestCounter", spindexer.counter);
             TELE.addData("autoSpintake", autoSpintake);
+            TELE.addData("distanceRearCenter", spindexer.distanceRearCenter);
+            TELE.addData("distanceFrontDriver", spindexer.distanceFrontDriver);
+            TELE.addData("distanceFrontPassenger", spindexer.distanceFrontPassenger);
+            TELE.addData("shootall commanded", shootAll);
             TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
-
             TELE.update();
 
             ticker++;

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

@@ -20,7 +20,7 @@ public class LimelightTest extends LinearOpMode {
     public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
     @Override
     public void runOpMode() throws InterruptedException {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
+        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         limelight.pipelineSwitch(pipeline);
         waitForStart();

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

@@ -9,7 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
@@ -21,12 +21,17 @@ public class ShooterTest extends LinearOpMode {
     // --- 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 transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
     Robot robot;
-    FlywheelV2 flywheel;
+    Flywheel flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -34,7 +39,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel(hardwareMap);
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -50,10 +55,8 @@ public class ShooterTest extends LinearOpMode {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                rightShooter.setPower(powPID);
-                leftShooter.setPower(powPID);
-                TELE.addData("PIDPower", powPID);
+                flywheel.setPIDF(P,I,D,F);
+                flywheel.manageFlywheel((int) Velocity);
             }
 
             if (hoodPos != 0.501) {
@@ -67,7 +70,7 @@ public class ShooterTest extends LinearOpMode {
             } else {
                 robot.transferServo.setPosition(transferServo_out);
             }
-            TELE.addData("Velocity", flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition()));
+            TELE.addData("Velocity", flywheel.getVelo());
             TELE.addData("Velocity 1", flywheel.getVelo1());
             TELE.addData("Velocity 2", flywheel.getVelo2());
             TELE.addData("Power", robot.shooter1.getPower());

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

@@ -2,6 +2,9 @@ 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;
 
@@ -17,72 +20,65 @@ public class Flywheel {
     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 targetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
-    public Flywheel () {
-        //robot = new Robot(hardwareMap);
+    public Flywheel (HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
     }
 
     public double getVelo () {
         return velo;
     }
+    public double getVelo1 () {
+        return velo1;
+    }
+    public double getVelo2 () {
+        return velo2;
+    }
 
     public boolean getSteady() {
         return steady;
     }
 
+    // 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;
     }
 
+    // Convert from RPM to Ticks per Second
+    private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
 
-    public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
+    // Convert from Ticks per Second to RPM
+    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
+
+    public double manageFlywheel(double commandedVelocity) {
         targetVelocity = commandedVelocity;
 
-        ticker++;
-        if (ticker % 2 == 0) {
-            velo5 = velo4;
-            velo4 = velo3;
-            velo3 = velo2;
-            velo2 = velo1;
+        // 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);
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
 
-            currentPos = shooter1CurPos / 2048;
-            stamp = getTimeSeconds(); //getRuntime();
-            velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
-            initPos = currentPos;
-            stamp1 = stamp;
-
-            velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
-        }
-        // Flywheel control code here
-        if (targetVelocity - velo > 500) {
-            powPID = 1.0;
-        } else if (velo - targetVelocity > 500){
-            powPID = 0.0;
-        } else {
-            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
-
-            // --- 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));
-        }
+        // Record Current Velocity
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter1.getVelocity()); // Possible error: should it be shooter2 not shooter1?
+        velo = Math.max(velo1,velo2);
 
         // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 100.0);
+        steady = (Math.abs(targetVelocity - velo) < 200.0);
 
         return powPID;
     }

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

@@ -8,6 +8,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
@@ -23,6 +24,13 @@ public class Robot {
     public DcMotorEx backRight;
     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_StepSizes = {10.0,1.0,0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
@@ -69,8 +77,11 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
         //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        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);
+        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
 
         hood = hardwareMap.get(Servo.class, "hood");
 

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

@@ -0,0 +1,400 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+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.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
+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.libs.RR.MecanumDrive;
+
+public class Spindexer {
+    Robot robot;
+    Servos servos;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    double lastKnownSpinPos = 0.0;
+    MultipleTelemetry TELE;
+
+    PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
+
+    double spinCurrentPos = 0.0;
+
+    public int commandedIntakePosition = 0;
+
+    public double distanceRearCenter = 0.0;
+    public double distanceFrontDriver = 0.0;
+    public double distanceFrontPassenger = 0.0;
+
+    // For Use
+    enum RotatedBallPositionNames {
+        REARCENTER,
+        FRONTDRIVER,
+        FRONTPASSENGER
+    }
+    // Array of commandedIntakePositions with contents
+    // {RearCenter, FrontDriver, FrontPassenger}
+    static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
+    class spindexerBallRoatation {
+        int rearCenter = 0; // aka commanded Position
+        int frontDriver = 0;
+        int frontPassenger = 0;
+    }
+
+    enum IntakeState {
+        UNKNOWN,
+        INTAKE,
+        FINDNEXT,
+        MOVING,
+        FULL,
+        SHOOTNEXT,
+        SHOOTMOVING,
+        SHOOTWAIT,
+    };
+
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN;
+
+    enum BallColor {
+        UNKNOWN,
+        GREEN,
+        PURPLE
+    };
+
+    class BallPosition {
+        boolean isEmpty = true;
+        int foundEmpty = 0;
+        BallColor ballColor = BallColor.UNKNOWN;
+    }
+
+    BallPosition[] ballPositions = new BallPosition[3];
+
+    public boolean init () {
+        return true;
+    }
+
+    public Spindexer(HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+        servos = new Servos(hardwareMap);
+        flywheel = new Flywheel(hardwareMap);
+        //TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        lastKnownSpinPos = servos.getSpinPos();
+
+        ballPositions[0] = new BallPosition();
+        ballPositions[1] = new BallPosition();
+        ballPositions[2] = new BallPosition();
+
+
+    }
+
+
+    double[] outakePositions =
+            {spindexer_outtakeBall1, spindexer_outtakeBall2, spindexer_outtakeBall3};
+
+    double[] intakePositions =
+            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
+
+    public int counter = 0;
+
+//    private double getTimeSeconds ()
+//    {
+//        return (double) System.currentTimeMillis()/1000.0;
+//    }
+
+//    public double getPos() {
+//        robot.spin1Pos.getVoltage();
+//        robot.spin1Pos.getMaxVoltage();
+//        return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
+//    }
+
+//    public void manageSpindexer() {
+//
+//    }
+
+    public void resetBallPosition (int pos) {
+        ballPositions[pos].isEmpty = true;
+        ballPositions[pos].foundEmpty = 0;
+        ballPositions[pos].ballColor = BallColor.UNKNOWN;
+    }
+
+    public void resetSpindexer () {
+        for (int i = 0; i < 3; i++) {
+            resetBallPosition(i);
+        }
+        currentIntakeState = IntakeState.UNKNOWN;
+    }
+
+    // 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() {
+
+        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);
+
+        // Position 1
+        if (distanceRearCenter < 43) {
+
+            // Mark Ball Found
+            newPos1Detection = true;
+
+            // Detect which color
+            double green = robot.color1.getNormalizedColors().green;
+            double red = robot.color1.getNormalizedColors().red;
+            double blue = robot.color1.getNormalizedColors().blue;
+
+            double gP = green / (green + red + blue);
+
+           // FIXIT - Add filtering to improve accuracy.
+           if (gP >= 0.4) {
+               ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
+           } else {
+               ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // purple
+           }
+        }
+        // Position 2
+        // Find which ball position this is in the spindexer
+        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
+        if (distanceFrontDriver < 60) {
+            // 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 (gP >= 0.4) {
+//               b2 = 2;  // purple
+//           } else {
+//               b2 = 1;  // green
+//           }
+        } else {
+            if (!ballPositions[spindexerBallPos].isEmpty) {
+                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
+                    resetBallPosition(spindexerBallPos);
+                }
+                ballPositions[spindexerBallPos].foundEmpty++;
+            }
+
+        }
+
+        // Position 3
+        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
+        if (distanceFrontPassenger < 33) {
+
+            // 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;
+
+//            double gP = green / (green + red + blue);
+
+//           if (gP >= 0.4) {
+//               b3 = 2;  // purple
+//           } else {
+//               b3 = 1;  // green
+//           }
+        } else {
+            if (!ballPositions[spindexerBallPos].isEmpty) {
+                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
+                    resetBallPosition(spindexerBallPos);
+                }
+                ballPositions[spindexerBallPos].foundEmpty++;
+            }
+        }
+
+//      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 newPos1Detection;
+    }
+
+    public void moveSpindexerToPos(double pos) {
+        spinCurrentPos = servos.getSpinPos();
+
+        double spindexPID = spinPID.calculate(spinCurrentPos, pos);
+
+        robot.spin1.setPower(spindexPID);
+        robot.spin2.setPower(-spindexPID);
+    }
+
+    public void stopSpindexer() {
+        robot.spin1.setPower(0);
+        robot.spin2.setPower(0);
+    }
+
+    public boolean isFull () {
+        return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
+    }
+    public boolean processIntake() {
+
+        switch (currentIntakeState) {
+            case UNKNOWN:
+                // For now just set position ONE if UNKNOWN
+                commandedIntakePosition = 0;
+                servos.setSpinPos(intakePositions[0]);
+                currentIntakeState = Spindexer.IntakeState.MOVING;
+                break;
+            case INTAKE:
+                // Ready for intake and Detecting a New Ball
+                if (detectBalls()) {
+                    ballPositions[commandedIntakePosition].isEmpty = false;
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                } else {
+                    // Maintain Position
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+            case FINDNEXT:
+                // Find Next Open Position and start movement
+                double currentSpindexerPos = servos.getSpinPos();
+                double commandedtravelDistance = 2.0;
+                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                    // 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)) {
+                    // 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)) {
+                    // Position 3
+                    commandedIntakePosition = 2;
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
+                    currentIntakeState = Spindexer.IntakeState.MOVING;
+                    commandedtravelDistance = proposedTravelDistance;
+                }
+                if (currentIntakeState != Spindexer.IntakeState.MOVING) {
+                    // Full
+                    currentIntakeState = Spindexer.IntakeState.FULL;
+                }
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
+            case MOVING:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.INTAKE;
+                    stopSpindexer();
+                    detectBalls();
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            case FULL:
+                // Double Check Colors
+                detectBalls();
+                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]);
+                break;
+
+            case SHOOTNEXT:
+                // Find Next Open Position and start movement
+                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?
+                    // 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?
+                    // 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"
+                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"
+                }
+                break;
+
+            case SHOOTWAIT:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.INTAKE;
+                    stopSpindexer();
+                    detectBalls();
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            default:
+                // Statements to execute if no case matches
+        }
+        //TELE.addData("commandedIntakePosition", commandedIntakePosition);
+        //TELE.update();
+        // Signal a successful intake
+        return false;
+    }
+
+    public void update()
+    {
+    }
+}