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

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

@@ -18,19 +18,16 @@ import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
-import java.util.List;
-
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class AutoClose_V3 extends LinearOpMode {
@@ -39,20 +36,19 @@ public class AutoClose_V3 extends LinearOpMode {
     MecanumDrive drive;
     FlywheelV2 flywheel;
     Servos servo;
+    LimelightManager limelightManager;
 
     double velo = 0.0;
     public static double intake1Time = 2.7;
     public static double intake2Time = 3.0;
     public static double colorDetect = 3.0;
-    boolean gpp = false;
+    public static double holdTurrPow = 0.1;
-    boolean pgp = false;
+
-    boolean ppg = false;
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
     double powPID = 0.0;
     double bearing = 0.0;
-    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
-    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
-    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-    public static double holdTurrPow = 0.1; // power to hold turret in place
 
     public Action initShooter(int vel) {
         return new Action() {
@@ -72,52 +68,34 @@ public class AutoClose_V3 extends LinearOpMode {
 
     public Action Obelisk() {
         return new Action() {
-            int id = 0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                LLResult result = robot.limelight.getLatestResult();
+                limelightManager.update();
-                if (result != null && result.isValid()) {
+                int id = limelightManager.detectFiducial();
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
 
-                }
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
 
-                if (id == 21){
+                TELE.addData("Fiducial ID", id);
-                    gpp = true;
-                } else if (id == 22){
-                    pgp = true;
-                } else if (id == 23){
-                    ppg = true;
-                }
-
-                TELE.addData("Velocity", velo);
                 TELE.addData("21", gpp);
                 TELE.addData("22", pgp);
                 TELE.addData("23", ppg);
                 TELE.update();
 
                 if (gpp || pgp || ppg) {
-                    if (redAlliance){
+                    LimelightManager.LimelightMode mode = redAlliance ?
-                        robot.limelight.pipelineSwitch(3);
+                            LimelightManager.LimelightMode.RED_GOAL :
-                        double turretPID = turret_redClose;
+                            LimelightManager.LimelightMode.BLUE_GOAL;
-                        robot.turr1.setPosition(turretPID);
+                    limelightManager.switchMode(mode);
-                        robot.turr2.setPosition(-turretPID);
-                        return false;
 
-                    } else {
+                    double turretTarget = redAlliance ? turret_redClose : turret_blueClose;
-                        robot.limelight.pipelineSwitch(2);
+                    double turretPID = servo.setTurrPos(turretTarget);
-                        double turretPID = turret_blueClose;
+                    robot.turr1.setPower(turretPID);
-                        robot.turr1.setPosition(turretPID);
+                    robot.turr2.setPower(-turretPID);
-                        robot.turr2.setPosition(-turretPID);
+                    return !servo.turretEqual(turretTarget);
-                        return false;
-                    }
-                } else {
-                    return true;
                 }
+                return true;
             }
         };
     }
@@ -188,8 +166,8 @@ public class AutoClose_V3 extends LinearOpMode {
                     return true;
                 } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
                     robot.transferServo.setPosition(transferServo_out);
-                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr1.setPower(holdTurrPow);
-                    robot.turr2.setPosition(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
                     TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
@@ -361,21 +339,14 @@ public class AutoClose_V3 extends LinearOpMode {
 
     @Override
     public void runOpMode() throws InterruptedException {
-
         robot = new Robot(hardwareMap);
-
         flywheel = new FlywheelV2();
-
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        TELE = new MultipleTelemetry(
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-                telemetry, FtcDashboard.getInstance().getTelemetry()
+        servo = new Servos(hardwareMap);
-        );
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
-
+        limelightManager.init();
-        drive = new MecanumDrive(hardwareMap, new Pose2d(
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
-                0, 0, 0
-        ));
-
-        robot.limelight.pipelineSwitch(1);
-        robot.limelight.start();
 
         TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                 .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
@@ -411,7 +382,7 @@ public class AutoClose_V3 extends LinearOpMode {
             double turrPID;
 
             if (redAlliance){
-                turrPID = turret_detectRedClose;
+                turrPID = servo.setTurrPos(turret_detectRedClose);
 
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
@@ -430,7 +401,7 @@ public class AutoClose_V3 extends LinearOpMode {
                 shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
                         .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
             } else {
-                turrPID = turret_detectBlueClose;
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
 
                 shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
@@ -450,8 +421,8 @@ public class AutoClose_V3 extends LinearOpMode {
                         .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
             }
 
-            robot.turr1.setPosition(turrPID);
+            robot.turr1.setPower(turrPID);
-            robot.turr2.setPosition(-turrPID);
+            robot.turr2.setPower(-turrPID);
 
             robot.hood.setPosition(hoodAuto);
 
@@ -559,193 +530,77 @@ public class AutoClose_V3 extends LinearOpMode {
     }
     //TODO: adjust this according to Teleop numbers
     public void detectTag() {
-        LLResult result = robot.limelight.getLatestResult();
+        limelightManager.update();
-        if (result != null) {
+        bearing = limelightManager.getBearing();
-            if (result.isValid()) {
-                bearing = result.getTx();
-            }
-        }
         double turretPos = servo.getTurrPos() - (bearing / 1300);
-        double turretPID = turretPos;
+        double turretPID = servo.setTurrPos(turretPos);
-        robot.turr1.setPosition(turretPID);
+        robot.turr1.setPower(turretPID);
-        robot.turr2.setPosition(-turretPID);
+        robot.turr2.setPower(-turretPID);
     }
 
     public void shootingSequence() {
         TELE.addData("Velocity", velo);
+        
+        // Define sequences based on obelisk configuration
+        double[][] sequences = {
+            {1, 2, 3}, {1, 3, 2}, {2, 1, 3}, {2, 3, 1}, {3, 1, 2}, {3, 2, 1}
+        };
+
+        double[] sequence = null;
+        
         if (gpp) {
             if (b1 + b2 + b3 == 4) {
-                if (b1 == 2 && b2 - b3 == 0) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[0];      // 1,2,3
-                    sequence1();
+                else if (b2 == 2 && b1 == b3) sequence = sequences[2]; // 2,1,3
-                    TELE.addLine("sequence1");
+                else if (b3 == 2 && b1 == b2) sequence = sequences[4]; // 3,1,2
-                } else if (b2 == 2 && b1 - b3 == 0) {
+                else sequence = sequences[0];
-                    sequence3();
-                    TELE.addLine("sequence3");
-                } else if (b3 == 2 && b1 - b2 == 0) {
-                    sequence6();
-                    TELE.addLine("sequence6");
-                } else {
-                    sequence1();
-                    TELE.addLine("sequence1");
-                }
             } else if (b1 + b2 + b3 >= 5) {
-                if (b1 == 2) {
+                if (b1 == 2) sequence = sequences[0];
-                    sequence1();
+                else if (b2 == 2) sequence = sequences[2];
-                    TELE.addLine("sequence1");
+                else if (b3 == 2) sequence = sequences[4];
-                } else if (b2 == 2) {
+            } else sequence = sequences[0];
-                    sequence3();
-                    TELE.addLine("sequence3");
-                } else if (b3 == 2) {
-                    sequence6();
-                    TELE.addLine("sequence6");
-                }
-            } else {
-                sequence1();
-                TELE.addLine("sequence1");
-            }
         } else if (pgp) {
             if (b1 + b2 + b3 == 4) {
-                if (b1 == 2 && b2 - b3 == 0) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[2];      // 2,1,3
-                    sequence3();
+                else if (b2 == 2 && b1 == b3) sequence = sequences[0]; // 1,2,3
-                    TELE.addLine("sequence3");
+                else if (b3 == 2 && b1 == b2) sequence = sequences[3]; // 2,3,1
-                } else if (b2 == 2 && b1 - b3 == 0) {
+                else sequence = sequences[0];
-                    sequence1();
-                    TELE.addLine("sequence1");
-                } else if (b3 == 2 && b1 - b2 == 0) {
-                    sequence4();
-                    TELE.addLine("sequence4");
-                } else {
-                    sequence1();
-                    TELE.addLine("sequence1");
-                }
             } else if (b1 + b2 + b3 >= 5) {
-                if (b1 == 2) {
+                if (b1 == 2) sequence = sequences[2];
-                    sequence3();
+                else if (b2 == 2) sequence = sequences[0];
-                    TELE.addLine("sequence3");
+                else if (b3 == 2) sequence = sequences[3];
-                } else if (b2 == 2) {
+            } else sequence = sequences[2];
-                    sequence1();
-                    TELE.addLine("sequence1");
-                } else if (b3 == 2) {
-                    sequence4();
-                    TELE.addLine("sequence4");
-                }
-            } else {
-                sequence3();
-                TELE.addLine("sequence3");
-            }
         } else if (ppg) {
             if (b1 + b2 + b3 == 4) {
-                if (b1 == 2 && b2 - b3 == 0) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[4];      // 3,1,2
-                    sequence6();
+                else if (b2 == 2 && b1 == b3) sequence = sequences[5]; // 3,2,1
-                    TELE.addLine("sequence6");
+                else if (b3 == 2 && b1 == b2) sequence = sequences[0]; // 1,2,3
-                } else if (b2 == 2 && b1 - b3 == 0) {
+                else sequence = sequences[0];
-                    sequence5();
-                    TELE.addLine("sequence5");
-                } else if (b3 == 2 && b1 - b2 == 0) {
-                    sequence1();
-                    TELE.addLine("sequence1");
-                } else {
-                    sequence1();
-                    TELE.addLine("sequence1");
-                }
             } else if (b1 + b2 + b3 >= 5) {
-                if (b1 == 2) {
+                if (b1 == 2) sequence = sequences[4];
-                    sequence6();
+                else if (b2 == 2) sequence = sequences[5];
-                    TELE.addLine("sequence6");
+                else if (b3 == 2) sequence = sequences[0];
-                } else if (b2 == 2) {
+            } else sequence = sequences[4];
-                    sequence5();
+        } else sequence = sequences[0];
-                    TELE.addLine("sequence5");
+
-                } else if (b3 == 2) {
+        executeShootingSequence(sequence);
-                    sequence1();
-                    TELE.addLine("sequence1");
-                }
-            } else {
-                sequence6();
-                TELE.addLine("sequence6");
-            }
-        } else {
-            sequence1();
-            TELE.addLine("sequence1");
-        }
         TELE.update();
     }
 
-    public void sequence1() {
+    private void executeShootingSequence(double[] sequence) {
-        Actions.runBlocking(
+        double[] ballPositions = {
-                new SequentialAction(
+            spindexer_outtakeBall1,
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+            spindexer_outtakeBall2,
-                        Shoot(AUTO_CLOSE_VEL),
+            spindexer_outtakeBall3
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+        };
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
 
-    public void sequence2() {
+        for (double ball : sequence) {
-        Actions.runBlocking(
+            Actions.runBlocking(
-                new SequentialAction(
+                    new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                            spindex(ballPositions[(int) ball - 1], AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
+                            Shoot(AUTO_CLOSE_VEL)
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                    )
-                        Shoot(AUTO_CLOSE_VEL),
+            );
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+        }
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence3() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence4() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence5() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence6() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
     }
 }

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

@@ -18,19 +18,16 @@ import com.acmerobotics.roadrunner.SequentialAction;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
-import java.util.List;
-
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class AutoFar_V1 extends LinearOpMode {
@@ -39,20 +36,19 @@ public class AutoFar_V1 extends LinearOpMode {
     MecanumDrive drive;
     FlywheelV2 flywheel;
     Servos servo;
+    LimelightManager limelightManager;
 
     double velo = 0.0;
     public static double intake1Time = 2.7;
     public static double intake2Time = 3.0;
     public static double colorDetect = 3.0;
-    boolean gpp = false;
+    public static double holdTurrPow = 0.1;
-    boolean pgp = false;
+
-    boolean ppg = false;
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
     double powPID = 0.0;
     double bearing = 0.0;
-    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
-    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
-    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-    public static double holdTurrPow = 0.1; // power to hold turret in place
 
     public Action initShooter(int vel) {
         return new Action() {
@@ -72,52 +68,34 @@ public class AutoFar_V1 extends LinearOpMode {
 
     public Action Obelisk() {
         return new Action() {
-            int id = 0;
             @Override
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                LLResult result = robot.limelight.getLatestResult();
+                limelightManager.update();
-                if (result != null && result.isValid()) {
+                int id = limelightManager.detectFiducial();
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
 
-                }
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
 
-                if (id == 21){
+                TELE.addData("Fiducial ID", id);
-                    gpp = true;
-                } else if (id == 22){
-                    pgp = true;
-                } else if (id == 23){
-                    ppg = true;
-                }
-
-                TELE.addData("Velocity", velo);
                 TELE.addData("21", gpp);
                 TELE.addData("22", pgp);
                 TELE.addData("23", ppg);
                 TELE.update();
 
                 if (gpp || pgp || ppg) {
-                    if (redAlliance){
+                    LimelightManager.LimelightMode mode = redAlliance ?
-                        robot.limelight.pipelineSwitch(3);
+                            LimelightManager.LimelightMode.RED_GOAL :
-                        robot.turr1.setPosition(turret_redFar);
+                            LimelightManager.LimelightMode.BLUE_GOAL;
-                        robot.turr2.setPosition(-turret_redFar);
+                    limelightManager.switchMode(mode);
 
-                    } else {
+                    double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
-                        robot.limelight.pipelineSwitch(2);
+                    double turretPID = servo.setTurrPos(turretTarget);
-
+                    robot.turr1.setPower(turretPID);
-                        robot.turr1.setPosition(turret_blueFar);
+                    robot.turr2.setPower(-turretPID);
-                        robot.turr2.setPosition(-turret_blueFar);
+                    return !servo.turretEqual(turretTarget);
-
-                    }
-
-                    return false;
-                } else {
-                    return true;
                 }
+                return true;
             }
         };
     }
@@ -188,8 +166,8 @@ public class AutoFar_V1 extends LinearOpMode {
                     return true;
                 } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
                     robot.transferServo.setPosition(transferServo_out);
-                    robot.turr1.setPosition(holdTurrPow);
+                    robot.turr1.setPower(holdTurrPow);
-                    robot.turr2.setPosition(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
                     TELE.addData("Velocity", velo);
                     TELE.addLine("shot once");
                     TELE.update();
@@ -363,19 +341,13 @@ public class AutoFar_V1 extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
 
         robot = new Robot(hardwareMap);
-
         flywheel = new FlywheelV2();
-
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        TELE = new MultipleTelemetry(
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-                telemetry, FtcDashboard.getInstance().getTelemetry()
+        servo = new Servos(hardwareMap);
-        );
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
-
+        limelightManager.init();
-        drive = new MecanumDrive(hardwareMap, new Pose2d(
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
-                0, 0, 0
-        ));
-
-        robot.limelight.pipelineSwitch(1);
-        robot.limelight.start();
 
         //TODO: add positions to develop auto
         
@@ -399,13 +371,13 @@ public class AutoFar_V1 extends LinearOpMode {
             double turrPID;
 
             if (redAlliance){
-                turrPID = turret_detectRedClose;
+                turrPID = servo.setTurrPos(turret_detectRedClose);
             } else {
-                turrPID = turret_detectBlueClose;
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
             }
 
-            robot.turr1.setPosition(turrPID);
+            robot.turr1.setPower(turrPID);
-            robot.turr2.setPosition(-turrPID);
+            robot.turr2.setPower(-turrPID);
 
             robot.hood.setPosition(hoodAutoFar);
 
@@ -460,16 +432,12 @@ public class AutoFar_V1 extends LinearOpMode {
     }
     //TODO: adjust this according to Teleop numbers
     public void detectTag() {
-        LLResult result = robot.limelight.getLatestResult();
+        limelightManager.update();
-        if (result != null) {
+        bearing = limelightManager.getBearing();
-            if (result.isValid()) {
-                bearing = result.getTx();
-            }
-        }
         double turretPos = servo.getTurrPos() - (bearing / 1300);
-        double turretPID = turretPos;
+        double turretPID = servo.setTurrPos(turretPos);
-        robot.turr1.setPosition(turretPID);
+        robot.turr1.setPower(turretPID);
-        robot.turr2.setPosition(-turretPID);
+        robot.turr2.setPower(-turretPID);
     }
 
     public void shootingSequence() {

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

@@ -0,0 +1,839 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV2")
+public class Blue_V2 extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTagWebcam aprilTag;
+
+    Flywheel flywheel;
+
+    double velo = 0.0;
+    double targetVelocity = 0.0;
+    public static double intake1Time = 2.9;
+
+    public static double intake2Time = 2.9;
+
+    public static double colorDetect = 3.0;
+
+    boolean gpp = false;
+
+    boolean pgp = false;
+
+    boolean ppg = false;
+
+    double powPID = 0.0;
+
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+
+    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    boolean spindexPosEqual(double spindexer) {
+        TELE.addData("Velocity", velo);
+        TELE.addLine("spindex equal");
+        TELE.update();
+        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
+                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
+    }
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            double initPos = 0.0;
+            double stamp = 0.0;
+            double stamp1 = 0.0;
+            double ticker = 0.0;
+            double stamp2 = 0.0;
+            double currentPos = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp2 = getRuntime();
+                }
+
+                targetVelocity = (double) vel;
+                ticker++;
+                if (ticker % 16 == 0) {
+                    stamp = getRuntime();
+                    stamp1 = stamp;
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
+                    steady = true;
+                    stamp2 = getRuntime();
+                    return true;
+                } else if (steady && getRuntime() - stamp2 > 1.5){
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("finished init");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action steadyShooter(int vel, boolean last) {
+        return new Action() {
+            double stamp = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                steady = flywheel.getSteady();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+
+                if (last && !steady){
+                    stamp = getRuntime();
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
+                    return false;
+                } else if (steady) {
+                    stamp = getRuntime();
+                    return true;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            double stamp = getRuntime();
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (aprilTag.getTagById(21) != null) {
+                    gpp = true;
+                } else if (aprilTag.getTagById(22) != null) {
+                    pgp = true;
+                } else if (aprilTag.getTagById(23) != null) {
+                    ppg = true;
+                }
+                aprilTag.update();
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg){
+                    robot.turr1.setPower(turret_blueClose);
+                    robot.turr2.setPower(1 - turret_blueClose);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action intakeReject() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                double position = 0.0;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (getRuntime() - stamp < 0.3){
+                    return true;
+                }else {
+                    robot.intake.setPower(0);
+                    return false;
+                }
+            }
+        };
+    }
+
+    public Action spindex (double spindexer, double vel){
+        return new Action() {
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                ticker++;
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - 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));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.spin1.setPower(spindexer);
+                robot.spin2.setPower(1-spindexer);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                return !spindexPosEqual(spindexer);
+            }
+        };
+    }
+
+    public Action Shoot(double vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - 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));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                    robot.transferServo.setPosition(transferServo_out);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = 0.0;
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            double position = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 40) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 40) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 30) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        flywheel = new Flywheel();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        aprilTag = new AprilTagWebcam();
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+
+                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        aprilTag.init(robot, TELE);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto-= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.turr1.setPower(turret_detectBlueClose);
+            robot.turr2.setPower(1 - turret_detectBlueClose);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin2.setPower(1 - spindexer_intakePos1);
+
+            aprilTag.update();
+            TELE.addData("Velocity", velo);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.hood.setPosition(hoodAuto);
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+                    )
+            );
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+}

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

@@ -1,754 +0,0 @@
-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.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.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.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.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.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.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.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
-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.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-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 androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ParallelAction;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.SequentialAction;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-
-import java.util.List;
-
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
-public class ProtoAutoClose_V3 extends LinearOpMode {
-    public static double intake1Time = 2.7;
-    public static double intake2Time = 3.0;
-    public static double colorDetect = 3.0;
-    public static double holdTurrPow = 0.01; // power to hold turret in place
-    Robot robot;
-    MultipleTelemetry TELE;
-    MecanumDrive drive;
-    FlywheelV2 flywheel;
-    Servos servo;
-    double velo = 0.0;
-    boolean gpp = false;
-    boolean pgp = false;
-    boolean ppg = false;
-    double powPID = 0.0;
-    double bearing = 0.0;
-    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
-    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
-    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-
-    public Action initShooter(int vel) {
-        return new Action() {
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-
-                TELE.addData("Velocity", velo);
-                TELE.update();
-
-                return !flywheel.getSteady();
-            }
-        };
-    }
-
-    public Action Obelisk() {
-        return new Action() {
-            int id = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                LLResult result = robot.limelight.getLatestResult();
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
-
-                }
-
-                if (id == 21) {
-                    gpp = true;
-                } else if (id == 22) {
-                    pgp = true;
-                } else if (id == 23) {
-                    ppg = true;
-                }
-
-                TELE.addData("Velocity", velo);
-                TELE.addData("21", gpp);
-                TELE.addData("22", pgp);
-                TELE.addData("23", ppg);
-                TELE.update();
-
-                if (gpp || pgp || ppg) {
-                    if (redAlliance) {
-                        robot.limelight.pipelineSwitch(3);
-                        robot.turr1.setPosition(turret_redClose);
-                        robot.turr2.setPosition(1 - turret_redClose);
-                        return false;
-
-                    } else {
-                        robot.limelight.pipelineSwitch(2);
-                        double turretPID = turret_blueClose;
-                        robot.turr1.setPosition(turretPID);
-                        robot.turr2.setPosition(1 - turretPID);
-                        return false;
-                    }
-                } else {
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action spindex(double spindexer, int vel) {
-        return new Action() {
-            double spinPID = 0.0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-
-                spinPID = servo.setSpinPos(spindexer);
-                robot.spin1.setPower(spinPID);
-                robot.spin2.setPower(-spinPID);
-                TELE.addData("Velocity", velo);
-                TELE.addLine("spindex");
-                TELE.update();
-
-                drive.updatePoseEstimate();
-                teleStart = drive.localizer.getPose();
-
-                if (servo.spinEqual(spindexer)) {
-                    robot.spin1.setPower(0);
-                    robot.spin2.setPower(0);
-
-                    return false;
-                } else {
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action Shoot(int vel) {
-        return new Action() {
-            int ticker = 1;
-            double initPos = 0.0;
-            double finalPos = 0.0;
-            boolean zeroNeeded = false;
-            boolean zeroPassed = false;
-            double currentPos = 0.0;
-            double prevPos = 0.0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", velo);
-                TELE.addLine("shooting");
-                TELE.update();
-
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                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;
-                }
-                ticker++;
-
-                if (ticker > 16) {
-                    robot.spin1.setPower(0.08);
-                    robot.spin2.setPower(-0.08);
-                }
-
-                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 intake(double intakeTime) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-            double spinCurrentPos = 0.0;
-            double spinInitPos = 0.0;
-            boolean reverse = false;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                if (ticker % 12 < 3) {
-
-                    robot.spin1.setPower(-1);
-                    robot.spin2.setPower(1);
-
-                } else if (reverse) {
-                    robot.spin1.setPower(1);
-                    robot.spin2.setPower(-1);
-                } else {
-                    robot.spin1.setPower(-0.15);
-                    robot.spin2.setPower(0.15);
-                }
-                robot.intake.setPower(1);
-                TELE.addData("Reverse?", reverse);
-                TELE.update();
-
-                if (getRuntime() - stamp > intakeTime) {
-                    if (reverse) {
-                        robot.spin1.setPower(-1);
-                        robot.spin2.setPower(1);
-                    } else {
-                        robot.spin1.setPower(1);
-                        robot.spin2.setPower(-1);
-                    }
-                    return false;
-                } else {
-                    if (ticker % 4 == 0) {
-                        spinCurrentPos = servo.getSpinPos();
-                        reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.02;
-                        spinInitPos = spinCurrentPos;
-                    }
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action ColorDetect(int vel) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
-                robot.shooter1.setPower(powPID);
-                robot.shooter2.setPower(powPID);
-
-                double s1D = robot.color1.getDistance(DistanceUnit.MM);
-                double s2D = robot.color2.getDistance(DistanceUnit.MM);
-                double s3D = robot.color3.getDistance(DistanceUnit.MM);
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                if (s1D < 43) {
-
-                    double green = robot.color1.getNormalizedColors().green;
-                    double red = robot.color1.getNormalizedColors().red;
-                    double blue = robot.color1.getNormalizedColors().blue;
-
-                    double gP = green / (green + red + blue);
-
-                    if (gP >= 0.4) {
-                        b1 = 2;
-                    } else {
-                        b1 = 1;
-                    }
-                }
-
-                if (s2D < 60) {
-
-                    double green = robot.color2.getNormalizedColors().green;
-                    double red = robot.color2.getNormalizedColors().red;
-                    double blue = robot.color2.getNormalizedColors().blue;
-
-                    double gP = green / (green + red + blue);
-
-                    if (gP >= 0.4) {
-                        b2 = 2;
-                    } else {
-                        b2 = 1;
-                    }
-                }
-
-                if (s3D < 33) {
-
-                    double green = robot.color3.getNormalizedColors().green;
-                    double red = robot.color3.getNormalizedColors().red;
-                    double blue = robot.color3.getNormalizedColors().blue;
-
-                    double gP = green / (green + red + blue);
-
-                    if (gP >= 0.4) {
-                        b3 = 2;
-                    } else {
-                        b3 = 1;
-                    }
-                }
-
-                TELE.addData("Velocity", velo);
-                TELE.addLine("Detecting");
-                TELE.addData("Distance 1", s1D);
-                TELE.addData("Distance 2", s2D);
-                TELE.addData("Distance 3", s3D);
-                TELE.addData("B1", b1);
-                TELE.addData("B2", b2);
-                TELE.addData("B3", b3);
-                TELE.update();
-
-                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
-            }
-        };
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        robot = new Robot(hardwareMap);
-
-        flywheel = new FlywheelV2();
-
-        TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        drive = new MecanumDrive(hardwareMap, new Pose2d(
-                0, 0, 0
-        ));
-
-        servo = new Servos(hardwareMap);
-
-        robot.limelight.pipelineSwitch(1);
-        robot.limelight.start();
-
-        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
-
-        TrajectoryActionBuilder lever = 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);
-
-        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);
-        TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-        while (opModeInInit()) {
-
-            if (gamepad2.dpadUpWasPressed()) {
-                hoodAuto -= 0.01;
-            }
-
-            if (gamepad2.dpadDownWasPressed()) {
-                hoodAuto += 0.01;
-            }
-
-            if (gamepad2.crossWasPressed()) {
-                redAlliance = !redAlliance;
-            }
-
-            double turretPID;
-            if (redAlliance) {
-                turretPID = turret_redClose;
-
-                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-                pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                        .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
-                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
-
-                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
-
-                shoot1 = drive.actionBuilder(new Pose2d(rx2c, ry2c, rh2c))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-                pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                        .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
-                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
-
-                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-                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);
-
-            } else {
-                turretPID = turret_blueClose;
-
-                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-                pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                        .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
-
-                shoot1 = drive.actionBuilder(new Pose2d(bx2c, by2c, bh2c))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-                pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                        .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
-                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
-
-                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-            }
-
-            robot.turr1.setPosition(turretPID);
-            robot.turr2.setPosition(1 - turretPID);
-
-            robot.hood.setPosition(hoodAuto);
-
-            robot.transferServo.setPosition(transferServo_out);
-
-            TELE.addData("Red?", redAlliance);
-            TELE.update();
-        }
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        if (opModeIsActive()) {
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot0.build(),
-                            initShooter(AUTO_CLOSE_VEL)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup1.build(),
-                            intake(intake1Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new SequentialAction(
-                            lever.build(),
-                            shoot1.build()
-                    )
-            );
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup2.build(),
-                            intake(intake2Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot2.build()
-                    )
-            );
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup3.build(),
-                            intake(intake2Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot3.build()
-                    )
-            );
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            TELE.addData("Velocity", velo);
-            TELE.addLine("finished");
-            TELE.update();
-
-            sleep(2000);
-
-        }
-
-    }
-
-    //TODO: adjust this according to Teleop numbers
-    public void detectTag() {
-        LLResult result = robot.limelight.getLatestResult();
-        if (result != null) {
-            if (result.isValid()) {
-                bearing = result.getTx();
-            }
-        }
-        double turretPos = robot.turr1Pos.getCurrentPosition() - (bearing / 1300);
-        robot.turr1.setPosition(turretPos);
-        robot.turr2.setPosition(1 - turretPos);
-    }
-
-    public void shootingSequence() {
-        TELE.addLine("Shooting");
-        TELE.update();
-        Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
-    }
-
-    public void sequence1() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence2() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence3() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence4() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence5() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence6() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-}

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

@@ -0,0 +1,771 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV2")
+public class Red_V2 extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTagWebcam aprilTag;
+
+    Flywheel flywheel;
+
+    Servos servo;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.9;
+
+    public static double intake2Time = 2.9;
+
+    public static double colorDetect = 3.0;
+
+    boolean gpp = false;
+
+    boolean pgp = false;
+
+    boolean ppg = false;
+
+    double powPID = 0.0;
+
+    double bearing = 0.0;
+
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+
+    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            double stamp1 = 0.0;
+            double ticker = 0.0;
+            double stamp2 = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp2 = getRuntime();
+                }
+
+                ticker++;
+                if (ticker % 16 == 0) {
+                    stamp = getRuntime();
+                    stamp1 = stamp;
+                }
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
+                    steady = true;
+                    stamp2 = getRuntime();
+                    return true;
+                } else if (steady && getRuntime() - stamp2 > 1.5){
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("finished init");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action steadyShooter(int vel, boolean last) {
+        return new Action() {
+            double stamp = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                steady = flywheel.getSteady();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                detectTag();
+
+                if (last && !steady){
+                    stamp = getRuntime();
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
+                    return false;
+                } else if (steady) {
+                    stamp = getRuntime();
+                    return true;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            double stamp = getRuntime();
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (aprilTag.getTagById(21) != null) {
+                    gpp = true;
+                } else if (aprilTag.getTagById(22) != null) {
+                    pgp = true;
+                } else if (aprilTag.getTagById(23) != null) {
+                    ppg = true;
+                }
+                aprilTag.update();
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg){
+                    double turretPID = servo.setTurrPos(turret_redClose);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turret_redClose);
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex (double spindexer, int vel){
+        return new Action() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.spin1.setPower(spindexer);
+                robot.spin2.setPower(1-spindexer);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                return !servo.spinEqual(spindexer);
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                    robot.transferServo.setPosition(transferServo_out);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = 0.0;
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action intakeReject() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (getRuntime() - stamp < 0.3){
+                    return true;
+                }else {
+                    robot.intake.setPower(0);
+                    return false;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            double position = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPower(position);
+                robot.spin2.setPower(1 - position);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 40) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 40) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 30) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        flywheel = new Flywheel();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        aprilTag = new AprilTagWebcam();
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
+                .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+
+                .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+
+                .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        aprilTag.init(robot, TELE);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto-= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin2.setPower(1 - spindexer_intakePos1);
+
+            aprilTag.update();
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.update();
+        }
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.hood.setPosition(hoodAuto);
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true),
+                            intakeReject()
+
+                    )
+            );
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    public void detectTag(){
+        AprilTagDetection d20 = aprilTag.getTagById(20);
+        AprilTagDetection d24 = aprilTag.getTagById(24);
+
+        if (d20 != null) {
+            bearing = d20.ftcPose.bearing;
+            TELE.addData("Bear", bearing);
+        }
+
+        if (d24 != null) {
+            bearing = d24.ftcPose.bearing;
+            TELE.addData("Bear", bearing);
+        }
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+}

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

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

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

@@ -17,25 +17,15 @@ public class Poses {
     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 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 rx4a = 71, ry4a = 60, rh4a = Math.toRadians(140);
-    public static double rx4b = 79, 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 bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
     public static double bx3b = 34, by3b = -58, 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 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

@@ -5,7 +5,7 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.39;
+    public static double spindexer_intakePos1 = 0.34;
 
     public static double spindexer_intakePos2 = 0.5;
 
@@ -40,6 +40,6 @@ public class ServoPositions {
     public static double turret_detectRedClose = 0.2;
 
     public static double turret_detectBlueClose = 0.6;
-    public static double turrDefault = 0.4;
+    public static double turrDefault = 0.40;
 
 }

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

@@ -5,9 +5,7 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.*;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -16,20 +14,12 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.ProfileParams;
-import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2d;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -56,15 +46,56 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
 
+import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 
 @Config
 public final class MecanumDrive {
+    public static class Params {
+        // IMU orientation
+        // TODO: fill in these values based on
+        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
+        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
+                RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
+        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
+                RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
+
+        // drive model parameters
+        public double inPerTick = 0.001978956;
+        public double lateralInPerTick = 0.0013863732202094405;
+        public double trackWidthTicks = 6488.883015684446;
+
+        // feedforward parameters (in tick units)
+        public double kS = 1.2147826978829488;
+        public double kV = 0.00032;
+        public double kA = 0.000046;
+
+        // path profile parameters (in inches)
+        public double maxWheelVel = 180;
+        public double minProfileAccel = -40;
+        public double maxProfileAccel = 180;
+
+        // turn profile parameters (in radians)
+        public double maxAngVel = 4* Math.PI; // shared with path
+        public double maxAngAccel = 4* Math.PI;
+
+        // path controller gains
+        public double axialGain = 4;
+        public double lateralGain = 4;
+        public double headingGain = 4; // shared with turn
+
+        public double axialVelGain = 0.0;
+        public double lateralVelGain = 0.0;
+        public double headingVelGain = 0.0; // shared with turn
+    }
+
     public static Params PARAMS = new Params();
+
     public final MecanumKinematics kinematics = new MecanumKinematics(
             PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+
     public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
             PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
     public final VelConstraint defaultVelConstraint =
@@ -74,15 +105,117 @@ public final class MecanumDrive {
             ));
     public final AccelConstraint defaultAccelConstraint =
             new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+
     public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+
     public final VoltageSensor voltageSensor;
+
     public final LazyImu lazyImu;
+
     public final Localizer localizer;
     private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+
     private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
     private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
     private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
     private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+
+    public class DriveLocalizer implements Localizer {
+        public final Encoder leftFront, leftBack, rightBack, rightFront;
+        public final IMU imu;
+
+        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
+        private Rotation2d lastHeading;
+        private boolean initialized;
+        private Pose2d pose;
+
+        public DriveLocalizer(Pose2d pose) {
+            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
+            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
+            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
+            rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
+
+            imu = lazyImu.get();
+
+            // TODO: reverse encoders if needed
+            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+            this.pose = pose;
+        }
+
+        @Override
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
+        }
+
+        @Override
+        public Pose2d getPose() {
+            return pose;
+        }
+
+        @Override
+        public PoseVelocity2d update() {
+            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
+            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
+            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
+            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
+
+            YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
+
+            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
+                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
+
+            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
+
+            if (!initialized) {
+                initialized = true;
+
+                lastLeftFrontPos = leftFrontPosVel.position;
+                lastLeftBackPos = leftBackPosVel.position;
+                lastRightBackPos = rightBackPosVel.position;
+                lastRightFrontPos = rightFrontPosVel.position;
+
+                lastHeading = heading;
+
+                return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
+            }
+
+            double headingDelta = heading.minus(lastHeading);
+            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
+                    new DualNum<Time>(new double[]{
+                            (leftFrontPosVel.position - lastLeftFrontPos),
+                            leftFrontPosVel.velocity,
+                            }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (leftBackPosVel.position - lastLeftBackPos),
+                            leftBackPosVel.velocity,
+                            }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightBackPosVel.position - lastRightBackPos),
+                            rightBackPosVel.velocity,
+                            }).times(PARAMS.inPerTick),
+                    new DualNum<Time>(new double[]{
+                            (rightFrontPosVel.position - lastRightFrontPos),
+                            rightFrontPosVel.velocity,
+                            }).times(PARAMS.inPerTick)
+            ));
+
+            lastLeftFrontPos = leftFrontPosVel.position;
+            lastLeftBackPos = leftBackPosVel.position;
+            lastRightBackPos = rightBackPosVel.position;
+            lastRightFrontPos = rightFrontPosVel.position;
+
+            lastHeading = heading;
+
+            pose = pose.plus(new Twist2d(
+                    twist.line.value(),
+                    headingDelta
+            ));
+
+            return twist.velocity().value();
+        }
+    }
+
     public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
         LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
 
@@ -135,191 +268,12 @@ public final class MecanumDrive {
         rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
     }
 
-    public PoseVelocity2d updatePoseEstimate() {
-        PoseVelocity2d vel = localizer.update();
-        poseHistory.add(localizer.getPose());
-
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-
-        return vel;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
-
-    public static class Params {
-        // IMU orientation
-        // TODO: fill in these values based on
-        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-                RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
-
-        // drive model parameters
-        public double inPerTick = 0.001978956;
-        public double lateralInPerTick = 0.0013863732202094405;
-        public double trackWidthTicks = 6488.883015684446;
-
-        // feedforward parameters (in tick units)
-        public double kS = 1.2147826978829488;
-        public double kV = 0.00032;
-        public double kA = 0.000046;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 180;
-        public double minProfileAccel = -40;
-        public double maxProfileAccel = 180;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = 4 * Math.PI; // shared with path
-        public double maxAngAccel = 4 * Math.PI;
-
-        // path controller gains
-        public double axialGain = 4;
-        public double lateralGain = 4;
-        public double headingGain = 4; // shared with turn
-
-        public double axialVelGain = 0.0;
-        public double lateralVelGain = 0.0;
-        public double headingVelGain = 0.0; // shared with turn
-    }
-
-    public class DriveLocalizer implements Localizer {
-        public final Encoder leftFront, leftBack, rightBack, rightFront;
-        public final IMU imu;
-
-        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
-        private Rotation2d lastHeading;
-        private boolean initialized;
-        private Pose2d pose;
-
-        public DriveLocalizer(Pose2d pose) {
-            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
-            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
-            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
-            rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
-
-            imu = lazyImu.get();
-
-            // TODO: reverse encoders if needed
-            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-            this.pose = pose;
-        }
-
-        @Override
-        public Pose2d getPose() {
-            return pose;
-        }
-
-        @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
-        }
-
-        @Override
-        public PoseVelocity2d update() {
-            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
-            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
-            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
-            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
-
-            YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
-
-            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
-                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
-
-            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
-
-            if (!initialized) {
-                initialized = true;
-
-                lastLeftFrontPos = leftFrontPosVel.position;
-                lastLeftBackPos = leftBackPosVel.position;
-                lastRightBackPos = rightBackPosVel.position;
-                lastRightFrontPos = rightFrontPosVel.position;
-
-                lastHeading = heading;
-
-                return new PoseVelocity2d(new Vector2d(0.0, 0.0), 0.0);
-            }
-
-            double headingDelta = heading.minus(lastHeading);
-            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
-                    new DualNum<Time>(new double[]{
-                            (leftFrontPosVel.position - lastLeftFrontPos),
-                            leftFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (leftBackPosVel.position - lastLeftBackPos),
-                            leftBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightBackPosVel.position - lastRightBackPos),
-                            rightBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightFrontPosVel.position - lastRightFrontPos),
-                            rightFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick)
-            ));
-
-            lastLeftFrontPos = leftFrontPosVel.position;
-            lastLeftBackPos = leftBackPosVel.position;
-            lastRightBackPos = rightBackPosVel.position;
-            lastRightFrontPos = rightFrontPosVel.position;
-
-            lastHeading = heading;
-
-            pose = pose.plus(new Twist2d(
-                    twist.line.value(),
-                    headingDelta
-            ));
-
-            return twist.velocity().value();
-        }
-    }
-
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private final double[] xPoints, yPoints;
         private double beginTs = -1;
 
+        private final double[] xPoints, yPoints;
+
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
 
@@ -496,4 +450,51 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
 }

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

@@ -158,6 +158,10 @@ public class TeleopV2 extends LinearOpMode {
             robot.frontRight.setPower(frontRightPower);
             robot.backRight.setPower(backRightPower);
 
+            // PID SERVOS
+            turretPID = servo.setTurrPos(turretPos);
+            robot.turr1.setPower(turretPID);
+            robot.turr2.setPower(-turretPID);
 
             //TODO: make sure changing position works throughout opmode
             if (!servo.spinEqual(spindexPos)){

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

@@ -6,6 +6,8 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
@@ -31,7 +33,7 @@ public class PIDServoTest extends LinearOpMode {
 
         PIDFController controller = new PIDFController(p, i, d, f);
 
-        controller.setTolerance(0.001);
+        controller.setTolerance(0);
         robot = new Robot(hardwareMap);
 
         telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
@@ -42,7 +44,15 @@ public class PIDServoTest extends LinearOpMode {
 
         while (opModeIsActive()) {
             controller.setPIDF(p, i, d, f);
-            if (mode == 1) {
+
+            if (mode == 0) {
+                pos = scalar * ((robot.turr1Pos.getVoltage() - restPos) / 3.3);
+
+                double pid = controller.calculate(pos, target);
+
+                robot.turr1.setPower(pid);
+                robot.turr2.setPower(-pid);
+            } else if (mode == 1) {
                 pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
 
                 double pid = controller.calculate(pos, target);
@@ -52,7 +62,7 @@ public class PIDServoTest extends LinearOpMode {
             }
 
             telemetry.addData("pos", pos);
-            telemetry.addData("Turret Voltage", robot.turr1Pos.getCurrentPosition());
+            telemetry.addData("Turret Voltage", robot.turr1Pos.getVoltage());
             telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
             telemetry.addData("target", target);
             telemetry.addData("Mode", mode);
@@ -61,5 +71,4 @@ public class PIDServoTest extends LinearOpMode {
         }
 
     }
-
 }

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
@@ -26,7 +26,7 @@ public class ShooterTest extends LinearOpMode {
     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 +34,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new FlywheelV2();
+        flywheel = new Flywheel();
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -50,7 +50,7 @@ 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());
+                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition());
                 rightShooter.setPower(powPID);
                 leftShooter.setPower(powPID);
                 TELE.addData("PIDPower", powPID);
@@ -60,6 +60,10 @@ public class ShooterTest extends LinearOpMode {
                 robot.hood.setPosition(hoodPos);
             }
 
+            if (turretPos != 0.501) {
+                robot.turr1.setPower(turretPos);
+                robot.turr2.setPower(turretPos);
+            }
 
             robot.transfer.setPower(transferPower);
             if (shoot) {
@@ -67,9 +71,7 @@ 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());
             TELE.addData("Steady?", flywheel.getSteady());
             TELE.addData("Position", robot.shooter1.getCurrentPosition());

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/FlywheelV2.java

@@ -73,18 +73,12 @@ public class FlywheelV2 {
         targetVelocity = commandedVelocity;
         velo = getVelo(shooter1CurPos, shooter2CurPos);
         // Flywheel PID code here
-        if (targetVelocity - velo > 4500) {
+        if (targetVelocity - velo > 500) {
             powPID = 1.0;
-        } else if (velo - targetVelocity > 4500) {
+        } else if (velo - targetVelocity > 500) {
             powPID = 0.0;
         } else {
-
+            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
-            double a = 2539.07863;
-            double c = 1967.6498;
-            double d = -0.289647;
-            double h = -1.1569;
-
-            double feed = Math.log10((a / (targetVelocity + c)) + d) / h;
 
             // --- PROPORTIONAL CORRECTION ---
             double error = targetVelocity - velo;

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

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

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

@@ -44,9 +44,16 @@ public class PositionalServoProgrammer extends LinearOpMode {
                 robot.spin1.setPower(spindexPow);
                 robot.spin2.setPower(-spindexPow);
             }
-            if (turretPos != 0.501){
+            if (turretPos != 0.501 && !servo.turretEqual(turretPos)){
-                robot.turr1.setPosition(turretPos);
+                double pos = servo.setTurrPos(turretPos);
-                robot.turr2.setPosition(1-turretPos);
+                robot.turr1.setPower(pos);
+                robot.turr2.setPower(-pos);
+            } else if (mode == 0){
+                robot.turr1.setPower(turrHoldPow);
+                robot.turr2.setPower(turrHoldPow);
+            } else {
+                robot.turr1.setPower(turretPow);
+                robot.turr2.setPower(-turretPow);
             }
             if (transferPos != 0.501){
                 robot.transferServo.setPosition(transferPos);
@@ -54,25 +61,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (hoodPos != 0.501){
                 robot.hood.setPosition(hoodPos);
             }
-            // To check configuration of spindexer:
+            TELE.addData("spindexer", servo.getSpinPos());
-            // Set "mode" to 1 and spindexPow to 0.1
+            TELE.addData("turret", servo.getTurrPos());
-            // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
+            TELE.addData("spindexer voltage", robot.spin1Pos.getVoltage());
-            // Do the previous test again to confirm
+            TELE.addData("hood voltage", robot.hoodPos.getVoltage());
-            // Set "mode" to 0 but keep spindexPos at 0.501
-            // Manually turn the spindexer until "spindexer pos" is set close to 0
-            // Check each spindexer voltage:
-                // If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
-                // If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
-            //TODO: @KeshavAnandCode do the above please
-
-            TELE.addData("spindexer pos", servo.getSpinPos());
-            TELE.addData("turret pos", servo.getTurrPos());
-            TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
-            TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
-            TELE.addData("hood pos", robot.hood.getPosition());
             TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
-            TELE.addData("turret voltage", robot.turr1Pos.getCurrentPosition());
+            TELE.addData("turret voltage", robot.turr1Pos.getVoltage());
-            TELE.addData("spindexer pow", robot.spin1.getPower());
+            TELE.addData("Spin Equal", servo.spinEqual(spindexPos));
             TELE.update();
         }
     }

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

@@ -7,6 +7,7 @@ import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.DigitalChannel;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.Servo;
 
@@ -27,16 +28,28 @@ public class Robot {
     public DcMotorEx shooter2;
     public Servo hood;
     public Servo transferServo;
-    public Servo turr1;
+    public Servo rejecter;
-    public Servo turr2;
+    public CRServo turr1;
+    public CRServo turr2;
     public CRServo spin1;
     public CRServo spin2;
+    public DigitalChannel pin0;
+    public DigitalChannel pin1;
+    public DigitalChannel pin2;
+    public DigitalChannel pin3;
+    public DigitalChannel pin4;
+    public DigitalChannel pin5;
+    public AnalogInput analogInput;
+    public AnalogInput analogInput2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
-    public DcMotorEx turr1Pos;
+    public AnalogInput hoodPos;
+    public AnalogInput turr1Pos;
+    public AnalogInput turr2Pos;
     public AnalogInput transferServoPos;
     public AprilTagProcessor aprilTagProcessor;
     public WebcamName webcam;
+    public DcMotorEx shooterEncoder;
     public RevColorSensorV3 color1;
     public RevColorSensorV3 color2;
     public RevColorSensorV3 color3;
@@ -44,12 +57,10 @@ public class Robot {
 
     public static boolean usingLimelight = true;
 
-    public static boolean usingCamera = true;
-
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
-        //TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
+
         frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
         frontRight = hardwareMap.get(DcMotorEx.class, "fr");
         backLeft = hardwareMap.get(DcMotorEx.class, "bl");
@@ -63,24 +74,30 @@ public class Robot {
         backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
 
         intake = hardwareMap.get(DcMotorEx.class, "intake");
+        rejecter = hardwareMap.get(Servo.class, "rejecter");
 
         shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
 
         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);
 
+        shooterEncoder = shooter1;
+
         hood = hardwareMap.get(Servo.class, "hood");
 
-        turr1 = hardwareMap.get(Servo.class, "t1");
+        hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
 
-        turr2 = hardwareMap.get(Servo.class, "t2");
+        turr1 = hardwareMap.get(CRServo.class, "t1");
 
-        turr1Pos = intake; // Encoder of turret plugged in intake port
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
+
+        turr2 = hardwareMap.get(CRServo.class, "t2");
+
+        turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
 
-        //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
         spin1 = hardwareMap.get(CRServo.class, "spin1");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
@@ -92,6 +109,22 @@ public class Robot {
         spin1.setDirection(DcMotorSimple.Direction.REVERSE);
         spin2.setDirection(DcMotorSimple.Direction.REVERSE);
 
+        pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
+
+        pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
+
+        pin2 = hardwareMap.get(DigitalChannel.class, "pin2");
+
+        pin3 = hardwareMap.get(DigitalChannel.class, "pin3");
+
+        pin4 = hardwareMap.get(DigitalChannel.class, "pin4");
+
+        pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
+
+        analogInput = hardwareMap.get(AnalogInput.class, "analog");
+
+        analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
+
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
 
         transferServo = hardwareMap.get(Servo.class, "transferServo");
@@ -99,7 +132,10 @@ public class Robot {
         transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
 
         transfer.setDirection(DcMotorSimple.Direction.REVERSE);
-        transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
+
+        webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
 
         color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
 
@@ -109,9 +145,6 @@ public class Robot {
 
         if (usingLimelight){
             limelight = hardwareMap.get(Limelight3A.class, "limelight");
-        } else if (usingCamera){
-            webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
-            aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }
     }
 }

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

@@ -6,24 +6,26 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 
 @Config
 public class Servos {
+    Robot robot;
+
+    PIDFController spinPID;
+
+    PIDFController turretPID;
+
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
+    public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
-    public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
+    public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
+
     public static double spin_scalar = 1.0086;
     public static double spin_restPos = 0.0;
     public static double turret_scalar = 1.009;
     public static double turret_restPos = 0.0;
-    Robot robot;
-    PIDFController spinPID;
-    PIDFController turretPID;
 
     public Servos(HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
         spinPID = new PIDFController(spinP, spinI, spinD, spinF);
         turretPID = new PIDFController(turrP, turrI, turrD, turrF);
-
-        turretPID.setTolerance(0.001);
     }
 
     // In the code below, encoder = robot.servo.getVoltage()
@@ -31,7 +33,6 @@ public class Servos {
     public double getSpinPos() {
         return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
     }
-
     //TODO: PID warp so 0 and 1 are usable positions
     public double setSpinPos(double pos) {
         spinPID.setPIDF(spinP, spinI, spinD, spinF);
@@ -44,8 +45,7 @@ public class Servos {
     }
 
     public double getTurrPos() {
-        return (double) ((double) robot.turr1Pos.getCurrentPosition() / 1024.0) * ((double) 44.0 / (double) 77.0);
+        return turret_scalar * ((robot.turr1Pos.getVoltage() - turret_restPos) / 3.3);
-
     }
 
     public double setTurrPos(double pos) {