woag

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;
@@ -82,6 +89,7 @@ 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;
@@ -91,6 +99,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
     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
@@ -207,6 +216,7 @@ 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) {
@@ -223,55 +233,75 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
+                robot.intake.setPower(-0.3);
+
                 if (ticker == 1) {
-                    robot.transferServo.setPosition(transferServo_in);
+                    stamp = getRuntime();
-                    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;
                 }
                 ticker++;
 
-                if (ticker > 16) {
+                robot.intake.setPower(0);
-                    robot.spin1.setPower(0.08);
+
-                    robot.spin2.setPower(-0.08);
+                if (getRuntime() - stamp < 2.7) {
+
+                    robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPower(-spinPow);
+                    robot.spin2.setPower(spinPow);
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    return false;
                 }
 
-                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;
             }
+        };
     }
 
+    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;
+                }
             }
         };
     }
@@ -291,17 +321,22 @@ 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);
+                else {
-                    robot.spin2.setPower(0.15);
+                    robot.spin1.setPower(0.5);
+                    robot.spin2.setPower(-0.5);
                 }
                 robot.intake.setPower(1);
                 TELE.addData("Reverse?", reverse);
@@ -319,9 +354,10 @@ 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;
                 }
             }
@@ -438,24 +474,27 @@ 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))
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
-                .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
-
-        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
                 .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 +510,7 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             if (gamepad2.crossWasPressed()) {
                 redAlliance = !redAlliance;
+
             }
 
             double turretPID;
@@ -482,26 +522,29 @@ 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))
+//                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
+//                        .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))
                         .strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
-                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b);
+                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
-                shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
+                                new TranslationalVelConstraint(slowSpeed));
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+                shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
 
             } else {
                 turretPID = turret_blueClose;
@@ -511,17 +554,26 @@ 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 +625,9 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             Actions.runBlocking(
                     new SequentialAction(
-                            lever.build(),
+                            shoot1.build(),
-                            shoot1.build()
+                            spindexUnjam(spinUnjamTime)
+
                     )
             );
 
@@ -604,7 +657,8 @@ public class ProtoAutoClose_V3 extends LinearOpMode {
 
             Actions.runBlocking(
                     new ParallelAction(
-                            shoot2.build()
+                            shoot2.build(),
+                            spindexUnjam(spinUnjamTime)
                     )
             );
 
@@ -630,7 +684,9 @@ 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 rx1 = 40, ry1 = -7, rh1 = 0;
-    public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
+    public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
-    public static double rx2b = 31, ry2b = 32, rh2b = 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 rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
-    public static double rx3b = 34, ry3b = 58, rh3b = 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 rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
-    public static double rx4b = 79, ry4b = 79, rh4b = 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 bx1 = 40, by1 = 7, bh1 = 0;
-    public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
+    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
-    public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
+    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
-    public static double bx2c = 40, by2c = -50, bh2c = 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 bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
-    public static double bx3b = 34, by3b = -58, bh3b = 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 bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
-    public static double bx4b = 75, by4b = -79, bh4b = 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

@@ -11,10 +11,10 @@ public class ServoPositions {
 
     public static double spindexer_intakePos3 = 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_outtakeBall2 = 0.31;
-    public static double spindexer_outtakeBall1 = 0.58;
+    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/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;
@@ -45,10 +46,10 @@ 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 spinPow = 0.09;
-    public static double bMult = -1, bDiv = 130000;
+    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;
@@ -146,8 +147,6 @@ public class TeleopV3 extends LinearOpMode {
 
         tController.setTolerance(0.001);
 
-
-
         if (redAlliance) {
             robot.limelight.pipelineSwitch(3);
         } else {
@@ -234,31 +233,24 @@ public class TeleopV3 extends LinearOpMode {
 
                 if (gamepad1.right_bumper) {
 
-                    robot.transferServo.setPosition(transferServo_out);
                     intakeTicker++;
 
-                    if (intakeTicker % 4 == 0) {
+                    if (intakeTicker % 20 < 2) {
-                        spinCurrentPos = servo.getSpinPos();
-                        if (Math.abs(spinCurrentPos - spinInitPos) < 0.02) {
-                            reverse = true;
-                        } else {
-                            reverse = false;
-                        }
-                        spinInitPos = spinCurrentPos;
-                    }
-
-                    if (intakeTicker % 12 < 3) {
 
                         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.spin1.setPower(0.5);
-                        robot.spin2.setPower(spinningPow);
+                        robot.spin2.setPower(-0.5);
                     }
+
                     robot.intake.setPower(1);
                     intakeStamp = getRuntime();
                     TELE.addData("Reverse?", reverse);
@@ -386,7 +378,7 @@ 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));
 
@@ -406,7 +398,6 @@ public class TeleopV3 extends LinearOpMode {
                 pos = 0.83;
             }
 
-
             //SHOOTER:
 
             double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
@@ -440,58 +431,47 @@ 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
+            if (y < 0.3 && y > -0.3 && x < 0.3 && x > -0.3 && rx < 0.3 && rx > -0.3) { //not moving
-//                double bearing;
+                double bearing;
-//
+
-//                LLResult result = robot.limelight.getLatestResult();
+                LLResult result = robot.limelight.getLatestResult();
-//                if (result != null) {
+                if (result != null) {
-//                    if (result.isValid()) {
+                    if (result.isValid()) {
-//                        bearing = result.getTx() * bMult;
+                        bearing = result.getTx() * bMult;
-//                        overrideTurr = true;
+
-//
+                        double bearingCorrection = bearing / bDiv;
-//                        double bearingCorrection = bearing / bDiv;
+
-//
+                        error += bearingCorrection;
-//                        // deadband: ignore tiny noise
+
-//                        if (Math.abs(bearing) > 0.3 && camTicker < 8) {
+                        camTicker++;
-//
+                        TELE.addData("tx", bearingCorrection);
-//                            error += bearingCorrection;
+                        TELE.addData("ty", result.getTy());
-//
+                    }
-//                        }
+                }
-//                        camTicker++;
+
-//                        TELE.addData("tx", bearing);
+            } else {
-//                        TELE.addData("ty", result.getTy());
+                camTicker = 0;
-//                    }
+                overrideTurr = false;
-//                }
+            }
-//
-//            } 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) {
+            if (Math.abs(gamepad2.left_stick_x)>0.2) {
-                manualOffset -= 2;
+                manualOffset += 1.35 * gamepad2.left_stick_x;
-            } else if (gamepad2.dpad_left || gamepad1.dpad_left) {
-                manualOffset += 2;
             }
 
             robot.turr1.setPosition(pos);
@@ -500,7 +480,7 @@ public class TeleopV3 extends LinearOpMode {
             //HOOD:
 
             if (autoHood) {
-                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
+                robot.hood.setPosition(0.15 + hoodOffset);
             } else {
                 robot.hood.setPosition(hoodDefaultPos + hoodOffset);
             }
@@ -518,7 +498,7 @@ public class TeleopV3 extends LinearOpMode {
 
             if (gamepad2.cross) {
                 manualOffset = 0;
-                fixedTurret = true;
+                overrideTurr = true;
             }
 
             if (gamepad2.squareWasPressed()) {
@@ -552,21 +532,40 @@ public class TeleopV3 extends LinearOpMode {
 //                }
 //            }
 
-            if (gamepad1.leftBumperWasPressed()) {
+            if (gamepad1.left_bumper) {
 
                 robot.transferServo.setPosition(transferServo_out);
 
                 autoSpintake = false;
 
+                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()) {
                 shootStamp = getRuntime();
                 shootAll = true;
-                spindexPos = spindexer_intakePos1;
 
                 shooterTicker = 0;
             }
@@ -603,6 +602,70 @@ public class TeleopV3 extends LinearOpMode {
                 }
 
             }
+//
+//            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();

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();