bug fix

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_12Ball.java

TeamCode/build.gradle

@@ -23,6 +23,19 @@ android {
     }
 }
 
+
+repositories {
+    maven {
+        url = 'https://maven.brott.dev/'
+    }
+}
+
 dependencies {
     implementation project(':FtcRobotController')
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
+    implementation "com.acmerobotics.roadrunner:core:1.0.1"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
+    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
+    implementation 'org.ftclib.ftclib:core:2.1.1' // core
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball.java

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

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

@@ -0,0 +1,804 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bHGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShoot1Tangent;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bXGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bYGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.bx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.by2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rHGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShoot1Tangent;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rXGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rYGate;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rh2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rt2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.rx2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.ry2c;
+import static org.firstinspires.ftc.teamcode.constants.Poses_V2.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Autonomous(preselectTeleOp = "TeleopV3")
+@Config
+public class Auto_LT_Close_GateCycle extends LinearOpMode {
+
+    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
+    public static double autoSpinStartPos = 0.2;
+    public static double shoot0SpinSpeedIncrease = 0.014;
+
+    public static double spindexerSpeedIncrease = 0.02;
+
+    public static double obeliskTurrPos = 0.53;
+    public static double gatePickupTime = 3.0;
+    public static double shoot1Turr = 0.57;
+    public static double shoot0XTolerance = 1.0;
+    public static double turretShootPos = 0.72;
+    public static double shootAllTime = 1.8;
+    public static double shoot0Time = 1.6;
+    public static double intake1Time = 3.0;
+    public static double flywheel0Time = 3.5;
+    public static double pickup1Speed = 80.0;
+    // ---- SECOND SHOT / PICKUP ----
+    public static double shoot1Vel = 2300;
+    public static double shoot1Hood = 0.93;
+    
+    public static double shootAllVelocity = 2500;
+    public static double shootAllHood = 0.78;
+    // ---- PICKUP TIMING ----
+    public static double pickup1Time = 3.0;
+    // ---- PICKUP POSITION TOLERANCES ----
+    public static double pickup1XTolerance = 2.0;
+    public static double pickup1YTolerance = 2.0;
+    // ---- OBELISK DETECTION ----
+    public static double obelisk1Time = 1.5;
+    public static double obelisk1XTolerance = 2.0;
+    public static double obelisk1YTolerance = 2.0;
+    public static double shoot1ToleranceX = 2.0;
+    public static double shoot1ToleranceY = 2.0;
+    public static double shoot1Time = 2.0;
+    public static double shootCycleTime = 2.5;
+    public int motif = 0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    private double x1, y1, h1;
+
+    private double x2a, y2a, h2a, t2a;
+
+    private double x2b, y2b, h2b, t2b;
+    private double x2c, y2c, h2c, t2c;
+
+    private double xShoot, yShoot, hShoot;
+    private double xGate, yGate, hGate;
+
+    private double shoot1Tangent;
+
+    public Action prepareShootAll(double time) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                robot.spin1.setPosition(autoSpinStartPos);
+                robot.spin2.setPosition(1 - autoSpinStartPos);
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                turret.manualSetTurret(turretShootPos);
+
+                robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
+
+                return (System.currentTimeMillis() - stamp) < (time * 1000);
+
+            }
+        };
+    }
+
+    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = vel;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+
+            }
+        };
+    }
+
+    public Action shootAllAuto(double shootTime, double spindexSpeed) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            double velo = 0.0;
+
+            int shooterTicker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        robot.spin1.setPosition(autoSpinStartPos);
+                        robot.spin2.setPosition(1 - autoSpinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                robot.intake.setPower(1);
+
+                motif = turret.detectObelisk();
+                
+                spindexer.ballCounterLight();
+
+                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
+
+            }
+        };
+    }
+
+    public Action detectObelisk(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance,
+            double turrPos
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                motif = turret.detectObelisk();
+
+                robot.turr1.setPosition(turrPos);
+                robot.turr2.setPosition(1 - turrPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheel(
+            double vel,
+            double hoodPos,
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                flywheel.manageFlywheel(vel);
+                robot.hood.setPosition(hoodPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageShooterAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+
+                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                turret.trackGoal(deltaPose);
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    public Action manageFlywheelAuto(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = drive.localizer.getPose().position.x;
+                double robotY = drive.localizer.getPose().position.y;
+
+                double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+
+                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || xDone || yDone;
+
+                return !shouldFinish;
+
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        hardwareMap.get(Servo.class, "light").setPosition(0);
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        robot.limelight.pipelineSwitch(1);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        turret.manualSetTurret(0.4);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        TrajectoryActionBuilder shoot0 = null;
+        TrajectoryActionBuilder pickup1 = null;
+        TrajectoryActionBuilder shoot1 = null;
+        TrajectoryActionBuilder gatePickup = null;
+        TrajectoryActionBuilder shootCycle = null;
+
+        robot.spin1.setPosition(autoSpinStartPos);
+        robot.spin2.setPosition(1 - autoSpinStartPos);
+
+        robot.transferServo.setPosition(transferServo_out);
+
+        robot.light.setPosition(1);
+
+        while (opModeInInit()) {
+
+            robot.hood.setPosition(shoot0Hood);
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+            }
+
+            if (redAlliance) {
+                robot.light.setPosition(0.28);
+
+                // ---- FIRST SHOT ----
+                x1 = rx1;
+                y1 = ry1;
+                h1 = rh1;
+
+                // ---- PICKUP PATH ----
+                x2a = rx2a;
+                y2a = ry2a;
+                h2a = rh2a;
+                t2a = rt2a;
+                x2b = rx2b;
+                y2b = ry2b;
+                h2b = rh2b;
+                t2b = rt2b;
+                x2c = rx2c;
+                y2c = ry2c;
+                h2c = rh2c;
+                t2c = rt2c;
+
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+                shoot1Tangent = rShoot1Tangent;
+                
+                xGate = rXGate;
+                yGate = rYGate;
+                hGate = rHGate;
+                
+
+            } else {
+                robot.light.setPosition(0.6);
+
+                // ---- FIRST SHOT ----
+                x1 = bx1;
+                y1 = by1;
+                h1 = bh1;
+
+                // ---- PICKUP PATH ----
+                x2a = bx2a;
+                y2a = by2a;
+                h2a = bh2a;
+                t2a = bt2a;
+                x2b = bx2b;
+                y2b = by2b;
+                h2b = bh2b;
+                t2b = bt2b;
+                x2c = bx2c;
+                y2c = by2c;
+                h2c = bh2c;
+                t2c = bt2c;
+
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+
+                shoot1Tangent = bShoot1Tangent;
+
+                xGate = bXGate;
+                yGate = bYGate;
+                hGate = bHGate;
+            }
+
+            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+
+            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
+                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
+                            new TranslationalVelConstraint(pickup1Speed));
+            shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
+                    .setReversed(true)
+                    .splineTo(new Vector2d(x2a, y2a), shoot1Tangent)
+                    .splineToSplineHeading(new Pose2d(xShoot, yShoot, hShoot), shoot1Tangent);
+            
+            gatePickup = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+                    .strafeToLinearHeading(new Vector2d(xGate, yGate), hGate);
+
+            shootCycle = drive.actionBuilder(new Pose2d(xGate, yGate, hGate))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.transfer.setPower(1);
+
+            assert shoot0 != null;
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            manageFlywheel(
+                                    shoot0Vel,
+                                    shoot0Hood,
+                                    flywheel0Time,
+                                    x1,
+                                    0.501,
+                                    shoot0XTolerance,
+                                    0.501
+                            )
+
+                    )
+            );
+
+            Actions.runBlocking(
+                    shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            manageFlywheel(
+                                    shootAllVelocity, 
+                                    shootAllHood,
+                                    pickup1Time,
+                                    x2b,
+                                    y2b,
+                                    pickup1XTolerance,
+                                    pickup1YTolerance
+                            ),
+                            intake(intake1Time),
+                            detectObelisk(
+                                    obelisk1Time,
+                                    x2b,
+                                    y2c,
+                                    obelisk1XTolerance,
+                                    obelisk1YTolerance,
+                                    obeliskTurrPos
+                            )
+                    )
+            );
+
+            motif = turret.detectObelisk();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageFlywheel(
+                                    shootAllVelocity, 
+                                    shootAllHood,
+                                    shoot1Time,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shoot1.build(),
+                            prepareShootAll(shoot1Time)
+                    )
+            );
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            manageShooterAuto(
+                                    shootAllTime,
+                                    0.501,
+                                    0.501,
+                                    0.501,
+                                    0.501
+                            ),
+                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                    )
+
+            );
+
+            while (opModeIsActive()) {
+
+                Actions.runBlocking(
+                        new ParallelAction(
+                                gatePickup.build(),
+                                manageShooterAuto(
+                                        gatePickupTime,
+                                        x2b,
+                                        y2b,
+                                        pickup1XTolerance,
+                                        pickup1YTolerance
+                                ),
+                                intake(gatePickupTime)
+
+                        )
+                );
+
+                Actions.runBlocking(
+                        new ParallelAction(
+                                manageFlywheelAuto(
+                                        shootCycleTime,
+                                        0.501,
+                                        0.501,
+                                        0.501,
+                                        0.501
+                                ),
+                                shootCycle.build(),
+                                prepareShootAll(shootCycleTime)
+                        )
+                );
+
+                Actions.runBlocking(
+                        new ParallelAction(
+                                manageShooterAuto(
+                                        shootAllTime,
+                                        0.501,
+                                        0.501,
+                                        0.501,
+                                        0.501
+                                ),
+                                shootAllAuto(shootAllTime, spindexerSpeedIncrease)
+                        )
+
+                );
+
+            }
+
+
+        }
+
+    }
+}

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

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

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

@@ -0,0 +1,804 @@
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.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 static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
+
+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.TranslationalVelConstraint;
+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.Disabled;
+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.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.List;
+@Disabled
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class ProtoAutoClose_V3 extends LinearOpMode {
+    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
+    public static double slowSpeed = 30.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Flywheel flywheel;
+    Servos servo;
+    double velo = 0.0;
+    boolean gpp = false;
+    boolean pgp = false;
+    boolean ppg = false;
+    public static double spinUnjamTime = 0.6;
+    double powPID = 0.0;
+    double bearing = 0.0;
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+    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) {
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                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) {
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPosition(spinPID);
+                robot.spin2.setPosition(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)) {
+                    robot.spin1.setPosition(0);
+                    robot.spin2.setPosition(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;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(0);
+
+                if (getRuntime() - stamp < 2.7) {
+
+                    robot.transferServo.setPosition(transferServo_in);
+
+                    robot.spin1.setPosition(-spinPow);
+                    robot.spin2.setPosition(spinPow);
+                    return true;
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    public Action spindexUnjam(double jamTime) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+
+
+                ticker++;
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+
+                if (ticker % 12 < 6) {
+
+                    robot.spin1.setPosition(-1);
+                    robot.spin2.setPosition(1);
+
+                } else {
+                    robot.spin1.setPosition(1);
+                    robot.spin2.setPosition(-1);
+                }
+
+                if (getRuntime() - stamp > jamTime+0.4) {
+
+                    robot.intake.setPower(0.5);
+
+                    return false;
+                }
+                else if (getRuntime() - stamp > jamTime) {
+
+                    robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
+
+                    return true;
+                }
+
+                else {
+                    robot.intake.setPower(1);
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double stamp = 0.0;
+            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 % 60 < 12) {
+
+                    robot.spin1.setPosition(-1);
+                    robot.spin2.setPosition(1);
+
+                } else if (ticker % 60 < 30) {
+                    robot.spin1.setPosition(-0.5);
+                    robot.spin2.setPosition(0.5);
+                }
+                else if (ticker % 60 < 42) {
+                    robot.spin1.setPosition(1);
+                    robot.spin2.setPosition(-1);
+                }
+                else {
+                    robot.spin1.setPosition(0.5);
+                    robot.spin2.setPosition(-0.5);
+                }
+                robot.intake.setPower(1);
+                TELE.addData("Reverse?", reverse);
+                TELE.update();
+
+                if (getRuntime() - stamp > intakeTime) {
+                    if (reverse) {
+                        robot.spin1.setPosition(-1);
+                        robot.spin2.setPosition(1);
+                    } else {
+                        robot.spin1.setPosition(1);
+                        robot.spin2.setPosition(-1);
+                    }
+                    return false;
+                } else {
+                    if (ticker % 4 == 0) {
+                        spinCurrentPos = servo.getSpinPos();
+                        reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
+                        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++;
+
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                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 Flywheel(hardwareMap);
+
+        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,
+                new TranslationalVelConstraint(slowSpeed));
+//
+//        TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+//                .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                        new TranslationalVelConstraint(slowSpeed));
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
+                .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
+                        new TranslationalVelConstraint(slowSpeed));
+        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,
+                                new TranslationalVelConstraint(slowSpeed));
+
+//                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+//                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
+
+                shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
+                                new TranslationalVelConstraint(slowSpeed));
+
+                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
+                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
+                                new TranslationalVelConstraint(slowSpeed));
+                shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+            } 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,
+                                new TranslationalVelConstraint(slowSpeed));
+
+                shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
+                                new TranslationalVelConstraint(slowSpeed));
+
+                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
+                        .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
+                                new TranslationalVelConstraint(slowSpeed));
+                shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+            }
+
+            robot.turr1.setPosition(turretPID);
+            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(
+                            shoot1.build(),
+                            spindexUnjam(spinUnjamTime)
+
+                    )
+            );
+
+            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(),
+                            spindexUnjam(spinUnjamTime)
+                    )
+            );
+
+            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(),
+                            spindexUnjam(spinUnjamTime)
+
+                    )
+            );
+
+            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 = (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/constants/Color.java

@@ -0,0 +1,11 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class Color {
+    public static boolean redAlliance = true;
+    public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
+
+    public static double colorFilterAlpha = 1;
+}

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

@@ -0,0 +1,50 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses {
+
+    public static double goalHeight = 42; //in inches
+
+    public static double turretHeight = 12;
+
+    public static double relativeGoalHeight = goalHeight - turretHeight;
+
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
+
+    public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
+    public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
+    public static double rx2b = 23, ry2b = 36, rh2b = Math.toRadians(140.1);
+
+    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140);
+
+    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
+    public static double rx3b = 38, ry3b = 56, rh3b = Math.toRadians(140.1);
+
+    public static double rx4a = 72, ry4a = 50, rh4a = Math.toRadians(145);
+    public static double rx4b = 42, ry4b = 80, rh4b = Math.toRadians(145.1);
+
+    public static double bx1 = 40, by1 = 7, bh1 = 0;
+    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
+    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
+    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
+
+    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
+    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
+
+    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
+    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
+    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
+
+    public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
+    public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
+
+    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
+    public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140);
+
+
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
+
+}

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

@@ -0,0 +1,56 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses_V2 {
+
+    public static double goalHeight = 42; //in inches
+
+    public static double turretHeight = 12;
+
+    public static double relativeGoalHeight = goalHeight - turretHeight;
+
+    public static Pose2d goalPose = new Pose2d(-10, 0, 0);
+
+    public static double rx1 = 20, ry1 = 0, rh1 = 0;
+    public static double rx2a = 55, ry2a = 39, rh2a = Math.toRadians(140), rt2a  = Math.toRadians(Math.PI/2);
+    public static double rx2b = 33, ry2b = 61, rh2b = Math.toRadians(140), rt2b  = Math.toRadians(Math.PI/2);
+
+    public static double rx2c = 34, ry2c = 50, rh2c = Math.toRadians(140), rt2c  = Math.toRadians(Math.PI/2);
+
+    public static double rXGate = 30, rYGate = 63, rHGate = Math.toRadians(179);
+
+    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
+    public static double rx3b = 33, ry3b = 61, rh3b = Math.toRadians(140);
+
+    public static double rx4a = 72, ry4a = 55, rh4a = Math.toRadians(140);
+    public static double rx4b = 48, ry4b = 79, rh4b = Math.toRadians(140);
+
+    public static double bx1 = 20, by1 = 0, bh1 = 0;
+    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140), bt2a  = Math.toRadians(140);
+    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140), bt2b  = Math.toRadians(140);
+    public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140), bt2c  = Math.toRadians(140);
+
+    public static double rShootX = 40, rShootY = 7, rShootH = Math.toRadians(140);
+
+    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
+    public static double bXGate = 25, bYGate = 69, bHGate = Math.toRadians(165);
+
+
+    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
+    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
+
+    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
+    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
+    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
+
+    public static double rShoot1Tangent = Math.toRadians(0);
+    public static double bShoot1Tangent = Math.toRadians(0);
+
+
+
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
+
+}

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

@@ -0,0 +1,56 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ServoPositions {
+
+    public static double spindexer_intakePos1 = 0.05; //0.13;
+
+    public static double spindexer_intakePos2 = 0.24; //0.33;//0.5;
+
+    public static double spindexer_intakePos3 = 0.43; //0.53;//0.66;
+
+    public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
+
+    public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
+    public static double spinStartPos = 0.25;
+    public static double spinEndPos = 0.85;
+
+    public static double shootAllAutoSpinStartPos = 0.2;
+    public static double shootAllSpindexerSpeedIncrease = 0.04;
+    public static double shootAllTime = 1.8;
+
+    public static double transferServo_out = 0.15;
+
+    public static double transferServo_in = 0.38;
+
+    public static double turret_range = 0.9;
+
+    public static double hoodDefault = 0.6;
+
+    public static double hoodAuto = 0.27;
+
+    public static double hoodAutoFar = 0.5; //TODO: change this;
+
+    public static double hoodHigh = 0.21; //TODO: change this;
+
+    public static double hoodLow = 1.0; //TODO: change this;
+
+    public static double turret_redClose = 0.42;
+    public static double turret_blueClose = 0.38;
+    public static double turret_redFar = 0.5; //TODO: change this
+    public static double turret_blueFar = 0.5; // TODO: change this
+
+    public static double turret_detectRedClose = 0.2;
+
+    public static double turret_detectBlueClose = 0.6;
+    public static double turrDefault = 0.4;
+
+    public static double turrMin = 0.2;
+    public static double turrMax = 0.8;
+
+
+}

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

@@ -0,0 +1,26 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ShooterVars {
+    public static double turret_GearRatio = 0.9974;
+
+    public static double turret_Range = 355;
+
+    public static int velTolerance = 300;
+
+    public static int initTolerance = 1000;
+
+    public static int maxVel = 4500;
+    public static double waitTransferOut = 0.3;
+    public static double waitTransfer = 0.4;
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+
+    // VELOCITY CONSTANTS
+    public static int AUTO_CLOSE_VEL = 3175; //3300;
+    public static int AUTO_FAR_VEL = 4000; //TODO: test this
+
+    public static Types.Motif currentMotif = Types.Motif.NONE;
+}

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

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

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

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

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

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

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

@@ -34,6 +34,7 @@ import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
@@ -57,33 +58,33 @@ public final class MecanumDrive {
         // 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.UP;
+                RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
         public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
+                RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
 
         // drive model parameters
-        public double inPerTick = 1;
+        public double inPerTick = 0.001978956;
-        public double lateralInPerTick = inPerTick;
+        public double lateralInPerTick = 0.0013863732202094405;
-        public double trackWidthTicks = 0;
+        public double trackWidthTicks = 6488.883015684446;
 
         // feedforward parameters (in tick units)
-        public double kS = 0;
+        public double kS = 1.2147826978829488;
-        public double kV = 0;
+        public double kV = 0.00032;
-        public double kA = 0;
+        public double kA = 0.000046;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 50;
+        public double maxWheelVel = 180;
-        public double minProfileAccel = -30;
+        public double minProfileAccel = -40;
-        public double maxProfileAccel = 50;
+        public double maxProfileAccel = 180;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
+        public double maxAngVel = 4* Math.PI; // shared with path
-        public double maxAngAccel = Math.PI;
+        public double maxAngAccel = 4* Math.PI;
 
         // path controller gains
-        public double axialGain = 0.0;
+        public double axialGain = 4;
-        public double lateralGain = 0.0;
+        public double lateralGain = 4;
-        public double headingGain = 0.0; // shared with turn
+        public double headingGain = 4; // shared with turn
 
         public double axialVelGain = 0.0;
         public double lateralVelGain = 0.0;
@@ -224,10 +225,10 @@ public final class MecanumDrive {
 
         // TODO: make sure your config has motors with these names (or change them)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
-        leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
-        rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
-        rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
 
         leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -235,7 +236,10 @@ public final class MecanumDrive {
         rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
         // TODO: reverse motor directions if needed
-        //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
 
         // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
@@ -244,7 +248,7 @@ public final class MecanumDrive {
 
         voltageSensor = hardwareMap.voltageSensor.iterator().next();
 
-        localizer = new DriveLocalizer(pose);
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
 
         FlightRecorder.write("MECANUM_PARAMS", PARAMS);
     }

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

@@ -16,8 +16,8 @@ import java.util.Objects;
 @Config
 public final class PinpointLocalizer implements Localizer {
     public static class Params {
-        public double parYTicks = 0.0; // y position of the parallel encoder (in tick units)
+        public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
+        public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
     }
 
     public static Params PARAMS = new Params();
@@ -38,7 +38,7 @@ public final class PinpointLocalizer implements Localizer {
         driver.setOffsets(mmPerTick * PARAMS.parYTicks, mmPerTick * PARAMS.perpXTicks, DistanceUnit.MM);
 
         // TODO: reverse encoder directions if needed
-        initialParDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
+        initialParDirection = GoBildaPinpointDriver.EncoderDirection.REVERSED;
         initialPerpDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD;
 
         driver.setEncoderDirections(initialParDirection, initialPerpDirection);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md

@@ -1,147 +1,130 @@
-# Team FTC Git Workflow Guide
+## TeamCode Module
 
+Welcome!
 
-## 1. Cloning the Repository
+This module, TeamCode, is the place where you will write/paste the code for your team's
+robot controller App. This module is currently empty (a clean slate) but the
+process for adding OpModes is straightforward.
 
-1. Open a terminal (or the terminal inside Android Studio).
+## Creating your own OpModes
-2. Navigate to the folder where you want to keep the project.
-3. Run:
 
-   ```bash
+The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
-   git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
-   cd DecodeFTCMain
-   ```
 
-4. Verify your remotes:
+Sample opmodes exist in the FtcRobotController module.
+To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
 
-   ```bash
+Expand the following tree elements:
-   git remote -v
+FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
-   ```
 
-   You should see:
+### Naming of Samples
-   ```
-   origin    https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
-   origin    https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
-   upstream  https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
-   upstream  https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
-   ```
 
----
+To gain a better understanding of how the samples are organized, and how to interpret the
+naming system, it will help to understand the conventions that were used during their creation.
 
-## 2. Keeping `master` Clean
+These conventions are described (in detail) in the sample_conventions.md file in this folder.
 
-- `master` should only contain clean, tested code.
+To summarize: A range of different samples classes will reside in the java/external/samples.
-- Nobody should ever code directly on `master`.
+The class names will follow a naming convention which indicates the purpose of each class.
-- To stay up to date:
+The prefix of the name will be one of the following:
 
-   ```bash
+Basic:    This is a minimally functional OpMode used to illustrate the skeleton/structure
-   git checkout master
+of a particular style of OpMode. These are bare bones examples.
-   git fetch upstream
-   git merge upstream/master
-   git push origin master
-   ```
 
----
+Sensor:        This is a Sample OpMode that shows how to use a specific sensor.
+It is not intended to drive a functioning robot, it is simply showing the minimal code
+required to read and display the sensor values.
 
-## 3. Creating a Feature Branch
+Robot:        This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
+It may be used to provide a common baseline driving OpMode, or
+to demonstrate how a particular sensor or concept can be used to navigate.
 
-Whenever you start a new task (feature, fix, experiment):
+Concept:    This is a sample OpMode that illustrates performing a specific function or concept.
+These may be complex, but their operation should be explained clearly in the comments,
+or the comments should reference an external doc, guide or tutorial.
+Each OpMode should try to only demonstrate a single concept so they are easy to
+locate based on their name. These OpModes may not produce a drivable robot.
 
-1. Update `master` (see above).
+After the prefix, other conventions will apply:
-2. Create a new branch from `master`:
 
-   ```bash
+* Sensor class names are constructed as:    Sensor - Company - Type
-   git checkout master
+* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
-   git pull origin master
+* Concept class names are constructed as:   Concept - Topic - OpModetype
-   git checkout -b feature/short-description
-   ```
 
-### Branch Naming Standard
+Once you are familiar with the range of samples available, you can choose one to be the
+basis for your own robot. In all cases, the desired sample(s) needs to be copied into
+your TeamCode module to be used.
 
-Branches **must** follow the format:
+This is done inside Android Studio directly, using the following steps:
+
+1) Locate the desired sample class in the Project/Android tree.
+
+2) Right click on the sample class and select "Copy"
+
+3) Expand the TeamCode/java folder
+
+4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
+
+5) You will be prompted for a class name for the copy.
+   Choose something meaningful based on the purpose of this class.
+   Start with a capital letter, and remember that there may be more similar classes later.
+
+Once your copy has been created, you should prepare it for use on your robot.
+This is done by adjusting the OpMode's name, and enabling it to be displayed on the
+Driver Station's OpMode list.
+
+Each OpMode sample class begins with several lines of code like the ones shown below:
 
 ```
-<type>/<short-description>
+ @TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
+ @Disabled
 ```
 
-Where `<type>` is one of:
+The name that will appear on the driver station's "opmode list" is defined by the code:
-- `feature/` → new functionality
+``name="Template: Linear OpMode"``
-- `fix/` → bug fixes
+You can change what appears between the quotes to better describe your opmode.
-- `experiment/` → prototypes or tests
+The "group=" portion of the code can be used to help organize your list of OpModes.
-- `docs/` → documentation updates
-- `chore/` → maintenance or cleanup
 
-Examples:
+As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
-- `feature/autonomous-path`
+``@Disabled`` annotation which has been included.
-- `fix/motor-init`
+This line can simply be deleted , or commented out, to make the OpMode visible.
-- `experiment/vision-test`
-- `docs/setup-instructions`
-- `chore/gradle-update`
 
-**Rules for names:**
+## ADVANCED Multi-Team App management:  Cloning the TeamCode Module
-- Use lowercase letters and hyphens (`-`) only.
-- Keep it short but clear (3–5 words).
-- One branch = one task. Never mix unrelated work.
 
----
+In some situations, you have multiple teams in your club and you want them to all share
+a common code organization, with each being able to *see* the others code but each having
+their own team module with their own code that they maintain themselves.
 
-## 4. Working on Your Branch
+In this situation, you might wish to clone the TeamCode module, once for each of these teams.
+Each of the clones would then appear along side each other in the Android Studio module list,
+together with the FtcRobotController module (and the original TeamCode module).
 
-- Make changes in Android Studio.
+Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
-- Stage and commit your changes:
+prior to clicking to the green Run arrow.
 
-   ```bash
+Warning:  This is not for the inexperienced Software developer.
-   git add .
+You will need to be comfortable with File manipulations and managing Android Studio Modules.
-   git commit -m "short message about what changed"
+These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
-   ```
 
-- Push your branch to GitHub:
+Also.. Make a full project backup before you start this :)
 
-   ```bash
+To clone TeamCode, do the following:
-   git push origin feature/short-description
-   ```
 
----
+Note: Some names start with "Team" and others start with "team". This is intentional.
 
-## 5. Sharing Your Work
+1) Using your operating system file management tools, copy the whole "TeamCode"
+   folder to a sibling folder with a corresponding new name, eg: "Team0417".
 
-- Once your branch is ready:
+2) In the new Team0417 folder, delete the TeamCode.iml file.
-    1. Open a Pull Request (PR) on GitHub to merge into `master`.
-    2. At least one teammate should review before merging.
 
----
+3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
+   to a matching name with a lowercase 'team' eg:  "team0417".
 
-## 6. Branching Rules
+4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
+   contains
+   package="org.firstinspires.ftc.teamcode"
+   to be
+   package="org.firstinspires.ftc.team0417"
 
-**Do:**
+5) Add:    include ':Team0417' to the "/settings.gradle" file.
-- Always branch from `master`.
-- Follow the naming standard exactly.
-- Keep branches small and focused.
-- Delete branches after they’re merged.
 
-**Don’t:**
+6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
-- Don’t push commits directly to `master`.
-- Don’t leave unfinished work on `master`.
-- Don’t mix unrelated changes in one branch.
-
----
-
-## 7. Example Workflow
-
-```bash
-# Get latest code
-git checkout master
-git fetch upstream
-git merge upstream/master
-git push origin master
-
-# Start a new feature
-git checkout -b feature/teleop-improvements
-
-# Work on code, then commit
-git add .
-git commit -m "improved joystick scaling in TeleOp"
-
-# Push branch
-git push origin feature/teleop-improvements
-```

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

@@ -0,0 +1,898 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Disabled
+@TeleOp
+@Config
+public class TeleopV2 extends LinearOpMode {
+    Servos servo;
+    Flywheel flywheel;
+    public static double manualVel = 3000;
+    public static double hood = 0.5;
+    public static double hoodDefaultPos = 0.5;
+    public static double desiredTurretAngle = 180;
+    public static double velMultiplier = 20;
+    public static double shootStamp2 = 0.0;
+
+    public double vel = 3000;
+    public boolean autoVel = true;
+    public double manualOffset = 0.0;
+    public boolean autoHood = true;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    public double shootStamp = 0.0;
+    public boolean circle = false;
+    public boolean square = false;
+    public boolean triangle = false;
+    double autoHoodOffset = 0.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    boolean intake = false;
+    boolean reject = false;
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+    double headingOffset = 0.0;
+    int ticker = 0;
+    int camTicker = 0;
+    List<Double> s1G = new ArrayList<>();
+    List<Double> s2G = new ArrayList<>();
+    List<Double> s3G = new ArrayList<>();
+    List<Double> s1T = new ArrayList<>();
+    List<Double> s2T = new ArrayList<>();
+    List<Double> s3T = new ArrayList<>();
+    List<Boolean> s1 = new ArrayList<>();
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    boolean oddBallColor = false;
+    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
+    MecanumDrive drive;
+    double hoodOffset = 0.0;
+    boolean shoot1 = false;
+    // Make these class-level flags
+    boolean shootA = true;
+    boolean shootB = true;
+    boolean shootC = true;
+    boolean manualTurret = false;
+
+    boolean outtake1 = false;
+    boolean outtake2 = false;
+    boolean outtake3 = false;
+    boolean overrideTurr = false;
+
+    List<Integer> shootOrder = new ArrayList<>();
+    boolean emergency = false;
+    private double lastEncoderRevolutions = 0.0;
+    private double lastTimeStamp = 0.0;
+    private double velo1, velo;
+    private double stamp1, stamp, initPos;
+    private boolean shootAll = false;
+    private double transferStamp = 0.0;
+    private int tickerA = 1;
+    private boolean transferIn = false;
+    double turretPID = 0.0;
+    double turretPos = 0.5;
+    double spindexPID = 0.0;
+    double spindexPos = spindexer_intakePos1;
+    double error = 0.0;
+
+    public static double velPrediction(double distance) {
+
+        if (distance < 30) {
+            return 2750;
+        } else if (distance > 100) {
+            if (distance > 160) {
+                return 4200;
+            }
+            return 3700;
+        } else {
+            // linear interpolation between 40->2650 and 120->3600
+            double slope = (3700.0 - 2750.0) / (100.0 - 30);
+            return (int) Math.round(2750 + slope * (distance - 30));
+        }
+
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+        servo = new Servos(hardwareMap);
+        flywheel = new Flywheel(hardwareMap);
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        Pose2d shootPos = teleStart;
+
+        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
+
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()) {
+
+            //DRIVETRAIN:
+
+            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
+            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
+            double rx = gamepad1.left_stick_x;
+
+            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+            double frontLeftPower = (y + x + rx) / denominator;
+            double backLeftPower = (y - x + rx) / denominator;
+            double frontRightPower = (y - x - rx) / denominator;
+            double backRightPower = (y + x - rx) / denominator;
+
+            robot.frontLeft.setPower(frontLeftPower);
+            robot.backLeft.setPower(backLeftPower);
+            robot.frontRight.setPower(frontRightPower);
+            robot.backRight.setPower(backRightPower);
+
+
+            //TODO: make sure changing position works throughout opmode
+            if (!servo.spinEqual(spindexPos)){
+                spindexPID = servo.setSpinPos(spindexPos);
+                robot.spin1.setPosition(spindexPID);
+                robot.spin2.setPosition(-spindexPID);
+            } else{
+                robot.spin1.setPosition(0);
+                robot.spin2.setPosition(0);
+            }
+
+            //INTAKE:
+
+            if (gamepad1.rightBumperWasPressed()) {
+                intake = !intake;
+                reject = false;
+                shootAll = false;
+                emergency = false;
+                overrideTurr = false;
+
+            }
+
+            if (gamepad1.leftBumperWasPressed()) {
+                intake = false;
+                emergency = !emergency;
+
+            }
+
+            if (intake) {
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                robot.intake.setPower(1);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    spindexPos = spindexer_intakePos1 + 0.015;
+                } else {
+                    spindexPos = spindexer_intakePos1 - 0.015;
+                }
+
+            } else if (reject) {
+                robot.intake.setPower(-1);
+                spindexPos = spindexer_intakePos1;
+            } else {
+                robot.intake.setPower(0);
+            }
+
+            //COLOR:
+
+            double s1D = robot.color1.getDistance(DistanceUnit.MM);
+            double s2D = robot.color2.getDistance(DistanceUnit.MM);
+            double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+            if (s1D < 40) {
+
+                double green = robot.color1.getNormalizedColors().green;
+                double red = robot.color1.getNormalizedColors().red;
+                double blue = robot.color1.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                s1G.add(gP);
+
+                if (gP >= 0.43) {
+                    s1.add(true);
+                } else {
+                    s1.add(false);
+                }
+
+                s1T.add(getRuntime());
+
+            }
+
+            if (s2D < 40) {
+
+                double green = robot.color2.getNormalizedColors().green;
+                double red = robot.color2.getNormalizedColors().red;
+                double blue = robot.color2.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                s2G.add(gP);
+
+                if (gP >= 0.43) {
+                    s2.add(true);
+                } else {
+                    s2.add(false);
+                }
+
+                s2T.add(getRuntime());
+            }
+
+            if (s3D < 30) {
+
+                double green = robot.color3.getNormalizedColors().green;
+                double red = robot.color3.getNormalizedColors().red;
+                double blue = robot.color3.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                s3G.add(gP);
+
+                if (gP >= 0.43) {
+                    s3.add(true);
+                } else {
+                    s3.add(false);
+                }
+
+                s3T.add(getRuntime());
+            }
+
+            if (!s1.isEmpty()) {
+                green1 = checkGreen(s1, s1T);
+            }
+            if (!s2.isEmpty()) {
+                green2 = checkGreen(s2, s2T);
+
+            }
+            if (!s3.isEmpty()) {
+                green3 = checkGreen(s3, s3T);
+            }
+
+            //SHOOTER:
+
+            double powPID = flywheel.manageFlywheel((int) vel);
+
+             robot.transfer.setPower(1);
+
+            //TURRET:
+
+            double offset;
+
+            double robX = drive.localizer.getPose().position.x;
+            double robY = drive.localizer.getPose().position.y;
+
+            double robotX = robX - xOffset;
+            double robotY = robY - yOffset;
+            double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+            double goalX = -10;
+            double goalY = 0;
+
+            double dx = goalX - robotX;  // delta x from robot to goal
+            double dy = goalY - robotY;  // delta y from robot to goal
+
+            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
+
+            desiredTurretAngle += manualOffset;
+
+            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
+
+            if (offset > 135) {
+                offset -= 360;
+            }
+
+            //TODO: test the camera teleop code
+            double pos = turrDefault + (error/8); // adds the overall error to the default
+
+            TELE.addData("offset", offset);
+
+            pos -= offset * (0.9 / 360);
+
+            if (pos < 0.02) {
+                pos = 0.02;
+            } else if (pos > 0.97) {
+                pos = 0.97;
+            }
+
+            if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
+                AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
+                AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
+
+                double bearing = 0.0;
+                if (d20 != null || d24 != null){
+                    if (d20 != null) {
+                        bearing = d20.ftcPose.bearing;
+                    }
+                    if (d24 != null) {
+                        bearing = d24.ftcPose.bearing;
+                    }
+                    overrideTurr = true;
+                    turretPos = servo.getTurrPos() - (bearing/1300);
+                    TELE.addData("Bear", bearing);
+
+                    double bearingCorrection = bearing / 1300;
+
+
+                    // deadband: ignore tiny noise
+                    if (Math.abs(bearing) > 0.3 && camTicker < 8) {
+
+                        // only accumulate if bearing direction is consistent
+                        if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
+                            error += bearingCorrection;
+                        }
+                    }
+
+                    camTicker++;
+
+                }
+
+
+            } else {
+                camTicker = 0;
+                overrideTurr = false;
+
+            }
+
+            if (manualTurret) {
+                pos = turrDefault + (manualOffset / 100);
+            }
+
+            if (!overrideTurr) {
+                turretPos = pos;
+            }
+
+            if (gamepad2.dpad_right) {
+                manualOffset -= 2;
+            } else if (gamepad2.dpad_left) {
+                manualOffset += 2;
+            }
+
+            //VELOCITY AUTOMATIC
+
+            if (autoVel) {
+                vel = velPrediction(distanceToGoal);
+            } else {
+                vel = manualVel;
+            }
+
+            if (gamepad2.right_stick_button) {
+                autoVel = true;
+            } else if (gamepad2.right_stick_y < -0.5) {
+                autoVel = false;
+                manualVel = 4100;
+            } else if (gamepad2.right_stick_y > 0.5) {
+                autoVel = false;
+                manualVel = 2700;
+            } else if (gamepad2.right_stick_x > 0.5) {
+                autoVel = false;
+                manualVel = 3600;
+            } else if (gamepad2.right_stick_x < -0.5) {
+                autoVel = false;
+                manualVel = 3100;
+            }
+
+            //HOOD:
+
+            if (autoHood) {
+                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
+            } else {
+                robot.hood.setPosition(hoodDefaultPos + hoodOffset);
+            }
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodOffset -= 0.03;
+                autoHoodOffset -= 0.02;
+
+            } else if (gamepad2.dpadDownWasPressed()) {
+                hoodOffset += 0.03;
+                autoHoodOffset += 0.02;
+
+            }
+
+            if (gamepad2.left_stick_x > 0.5) {
+                manualTurret = false;
+            } else if (gamepad2.left_stick_x < -0.5) {
+                manualOffset = 0;
+                manualTurret = false;
+                if (gamepad2.left_bumper) {
+                    drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
+                    sleep(1200);
+                }
+            }
+
+            if (gamepad2.left_stick_y < -0.5) {
+                autoHood = true;
+            } else if (gamepad2.left_stick_y > 0.5) {
+                autoHood = false;
+                hoodOffset = 0;
+                if (gamepad2.left_bumper) {
+                    xOffset = robotX;
+                    yOffset = robotY;
+                    headingOffset = robotHeading;
+                }
+            }
+
+            //SHOOT ALL:]
+
+            if (emergency) {
+                intake = false;
+                reject = true;
+
+                if (getRuntime() % 3 > 1.5) {
+                    spindexPos = 1;
+                } else {
+                    spindexPos = 0;
+                }
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                robot.transfer.setPower(1);
+
+            } else if (shootAll) {
+
+                TELE.addData("100% works", shootOrder);
+
+                intake = false;
+                reject = false;
+
+                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
+                    int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
+                    boolean shootingDone = false;
+
+                    if (!outtake1) {
+                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
+                    }
+                    if (!outtake2) {
+                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                    }
+                    if (!outtake3) {
+                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
+                    }
+
+                    switch (currentSlot) {
+                        case 1:
+                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
+                            TELE.addData("shootA", shootA);
+
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootA;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 2:
+                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
+                            TELE.addData("shootB", shootB);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootB;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 3:
+                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
+                            TELE.addData("shootC", shootC);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootC;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                    }
+
+                    // Remove from the list only if shooting is complete
+                    if (shootingDone) {
+                        shootOrder.remove(0);
+                        shootStamp2 = getRuntime();
+
+                    }
+
+                } else {
+                    // Finished shooting all balls
+                    spindexPos = spindexer_intakePos1;
+                    shootA = true;
+                    shootB = true;
+                    shootC = true;
+                    reject = false;
+                    intake = true;
+                    shootAll = false;
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+
+                    overrideTurr = false;
+
+                }
+
+            }
+
+            if (gamepad2.squareWasPressed()) {
+                square = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+            }
+
+            if (gamepad2.circleWasPressed()) {
+                circle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (gamepad2.triangleWasPressed()) {
+                triangle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (square || circle || triangle) {
+
+                // Count green balls
+                int greenCount = 0;
+                if (green1) greenCount++;
+                if (green2) greenCount++;
+                if (green3) greenCount++;
+
+                // Determine the odd ball color
+                oddBallColor = greenCount < 2; // true = green, false = purple
+
+                shootOrder.clear();
+
+                // Determine shooting order based on button pressed
+                // square = odd ball first, triangle = odd ball second, circle = odd ball third
+                if (square) {
+                    // Odd ball first
+                    addOddThenRest(shootOrder, oddBallColor);
+
+                } else if (triangle) {
+                    // Odd ball second
+                    addOddInMiddle(shootOrder, oddBallColor);
+                } else if (circle) {
+                    // Odd ball last
+                    addOddLast(shootOrder, oddBallColor);
+                }
+
+                circle = false;
+                square = false;
+                triangle = false;
+
+            }
+
+            // Right bumper shoots all balls fastest, ignoring colors
+            if (gamepad2.rightBumperWasPressed()) {
+                shootOrder.clear();
+                shootStamp = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+                // Fastest order (example: slot 3 → 2 → 1)
+
+                if (ballIn(3)) {
+                    shootOrder.add(3);
+
+                }
+
+                if (ballIn(2)) {
+                    shootOrder.add(2);
+
+                }
+
+                if (ballIn(1)) {
+                    shootOrder.add(1);
+
+                }
+
+                if (!shootOrder.contains(3)) {
+
+                    shootOrder.add(3);
+                }
+
+                if (!shootOrder.contains(2)) {
+
+                    shootOrder.add(2);
+                }
+
+                if (!shootOrder.contains(1)) {
+
+                    shootOrder.add(1);
+                }
+
+                shootAll = true;
+                shootPos = drive.localizer.getPose();
+
+            }
+
+//            // Right bumper shoots all balls fastest, ignoring colors
+//            if (gamepad2.leftBumperWasPressed()) {
+//                shootOrder.clear();
+//                shootStamp = getRuntime();
+//
+//                outtake1 = false;
+//                outtake2 = false;
+//                outtake3 = false;
+//
+//                // Fastest order (example: slot 3 → 2 → 1)
+//
+//                if (ballIn(3)) {
+//                    shootOrder.add(3);
+//                }
+//
+//                if (ballIn(2)) {
+//                    shootOrder.add(2);
+//                }
+//                if (ballIn(1)) {
+//                    shootOrder.add(1);
+//                }
+//                shootAll = true;
+//                shootPos = drive.localizer.getPose();
+//
+//            }
+//
+            if (gamepad2.crossWasPressed()) {
+                emergency = true;
+
+            }
+
+            if (gamepad2.leftBumperWasPressed()) {
+                emergency = false;
+            }
+
+            //MISC:
+
+            drive.updatePoseEstimate();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+
+            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
+            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
+            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
+
+            TELE.addData("pose", drive.localizer.getPose());
+            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+            TELE.addData("distanceToGoal", distanceToGoal);
+            TELE.addData("hood", robot.hood.getPosition());
+            TELE.addData("targetVel", vel);
+
+            TELE.addData("shootOrder", shootOrder);
+            TELE.addData("oddColor", oddBallColor);
+
+            aprilTagWebcam.update();
+
+            TELE.update();
+
+            ticker++;
+
+        }
+    }
+
+    // Helper method
+    private boolean checkGreen(List<Boolean> s, List<Double> sT) {
+        if (s.isEmpty()) return false;
+
+        double lastTime = sT.get(sT.size() - 1);
+        int countTrue = 0;
+        int countWindow = 0;
+
+        for (int i = 0; i < s.size(); i++) {
+            if (lastTime - sT.get(i) <= 3.0) {  // element is within 2s of last
+                countWindow++;
+                if (s.get(i)) {
+                    countTrue++;
+                }
+            }
+        }
+
+        if (countWindow == 0) return false; // avoid divide by zero
+        return countTrue > countWindow / 2.0; // more than 50% true
+    }
+
+    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
+        // Set spin positions
+        spindexPos = spindexer;
+
+        // Check if spindexer has reached the target position
+        if (spinOk || getRuntime() - stamp > 1.5) {
+            if (tickerA == 1) {
+                transferStamp = getRuntime();
+                tickerA++;
+                TELE.addLine("tickerSet");
+            }
+
+            if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                robot.transferServo.setPosition(transferServo_in);
+                transferIn = true;
+                TELE.addLine("transferring");
+
+                return true; // still in progress
+
+            } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                robot.transferServo.setPosition(transferServo_out);
+                transferIn = false; // reset for next shot
+                tickerA = 1;        // reset ticker
+                transferStamp = 0.0;
+
+                TELE.addLine("shotFinished");
+
+                return false;       // finished shooting
+            } else {
+                TELE.addLine("sIP");
+                return true; // still in progress
+            }
+        } else {
+            robot.transferServo.setPosition(transferServo_out);
+            tickerA = 1;
+            transferStamp = getRuntime();
+            transferIn = false;
+            return true; // still moving spin
+        }
+    }
+
+    public double hoodAnglePrediction(double x) {
+        if (x < 34) {
+            double L = 1.04471;
+            double U = 0.711929;
+            double Q = 120.02263;
+            double B = 0.780982;
+            double M = 20.61191;
+            double v = 10.40506;
+
+            double inner = 1 + Q * Math.exp(-B * (x - M));
+            return L + (U - L) / Math.pow(inner, 1.0 / v);
+
+        } else {
+            // x >= 34
+            return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
+        }
+    }
+
+    void addOddThenRest(List<Integer> order, boolean oddColor) {
+        // Odd ball first
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddInMiddle(List<Integer> order, boolean oddColor) {
+
+        boolean[] used = new boolean[4];   // index 1..3
+
+        // 1) Add a NON-odd ball first
+        for (int i = 1; i <= 3; i++) {
+            if (getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 2) Add the odd ball second
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) == oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 3) Add the remaining non-odd ball third
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        TELE.addData("works", order);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddLast(List<Integer> order, boolean oddColor) {
+        // Odd ball last
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    // Returns color of ball in slot i (1-based)
+    boolean getBallColor(int slot) {
+        switch (slot) {
+            case 1:
+                return green1;
+            case 2:
+                return green2;
+            case 3:
+                return green3;
+        }
+        return false; // default
+    }
+
+    boolean ballIn(int slot) {
+        switch (slot) {
+            case 1:
+
+                if (!s1T.isEmpty()) {
+
+                    return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 2:
+
+                if (!s2T.isEmpty()) {
+
+                    return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 3:
+
+                if (!s3T.isEmpty()) {
+
+                    return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
+
+                }
+        }
+        return true; // default
+    }
+}

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

@@ -0,0 +1,339 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Drivetrain;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+import java.util.List;
+
+@Config
+@TeleOp
+public class TeleopV3 extends LinearOpMode {
+    public static double manualVel = 3000;
+    public static double hoodDefaultPos = 0.5;
+
+    public static double spinPow = 0.09;
+    public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
+    public static double spinSpeedIncrease = 0.03;
+    public static int resetSpinTicks = 4;
+    public double vel = 3000;
+    public boolean autoVel = true;
+    public boolean targetingHood = true;
+    public double manualOffset = 0.0;
+    public boolean autoHood = true;
+
+    public double shootStamp = 0.0;
+
+    boolean fixedTurret = false;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    Drivetrain drivetrain;
+    double autoHoodOffset = 0.0;
+    int shooterTicker = 0;
+    boolean intake = false;
+    boolean reject = false;
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+    double headingOffset = 0.0;
+    int ticker = 0;
+
+    double hoodOffset = 0.0;
+
+    boolean autoSpintake = false;
+    boolean enableSpindexerManager = true;
+
+    boolean overrideTurr = false;
+
+    int intakeTicker = 0;
+
+    boolean turretInterpolate = false;
+    private boolean shootAll = false;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        robot.light.setPosition(0);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        servo = new Servos(hardwareMap);
+        flywheel = new Flywheel(hardwareMap);
+        drive = new MecanumDrive(hardwareMap, teleStart);
+        spindexer = new Spindexer(hardwareMap);
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        drivetrain = new Drivetrain(robot, drive);
+
+        PIDFController tController = new PIDFController(tp, ti, td, tf);
+
+        tController.setTolerance(0.001);
+
+        Turret turret = new Turret(robot, TELE, robot.limelight);
+        robot.light.setPosition(1);
+        while (opModeInInit()) {
+            robot.limelight.start();
+            if (redAlliance) {
+                robot.limelight.pipelineSwitch(4);
+            } else {
+                robot.limelight.pipelineSwitch(2);
+            }
+        }
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        robot.transferServo.setPosition(transferServo_out);
+
+        while (opModeIsActive()) {
+
+            TELE.addData("Is limelight on?", robot.limelight.getStatus());
+
+            // LIGHT COLORS
+            spindexer.ballCounterLight();
+
+            //DRIVETRAIN:
+
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x,
+                    gamepad1.left_trigger
+            );
+
+            if (gamepad1.right_bumper) {
+                shootAll = false;
+                robot.transferServo.setPosition(transferServo_out);
+
+            }
+
+            robot.transfer.setPower(1);
+
+            double offset;
+
+            double robX = drive.localizer.getPose().position.x;
+            double robY = drive.localizer.getPose().position.y;
+
+            double robotX = robX - xOffset;
+            double robotY = robY - yOffset;
+            double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+            double goalX = -15;
+            double goalY = 0;
+
+            double dx = robotX - goalX;  // delta x from robot to goal
+            double dy = robotY - goalY;  // delta y from robot to goal
+            Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+
+            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+            targetingSettings = targeting.calculateSettings
+                    (robotX, robotY, robotHeading, 0.0, turretInterpolate);
+
+            turret.trackGoal(deltaPose);
+
+            //VELOCITY AUTOMATIC
+            if (autoVel) {
+                vel = targetingSettings.flywheelRPM;
+            } else {
+                vel = manualVel;
+            }
+
+            if (gamepad2.right_stick_button) {
+                autoVel = true;
+            } else if (gamepad2.right_stick_y < -0.5) {
+                autoVel = false;
+                manualVel = 4600;
+            } else if (gamepad2.right_stick_y > 0.5) {
+                autoVel = false;
+                manualVel = 2700;
+            } else if (gamepad2.right_stick_x > 0.5) {
+                autoVel = false;
+                manualVel = 3600;
+            } else if (gamepad2.right_stick_x < -0.5) {
+                autoVel = false;
+                manualVel = 3100;
+            }
+
+            //SHOOTER:
+            flywheel.manageFlywheel(vel);
+
+            //HOOD:
+
+            if (targetingHood) {
+                robot.hood.setPosition(targetingSettings.hoodAngle);
+            } else {
+                robot.hood.setPosition(hoodDefaultPos + hoodOffset);
+            }
+
+            if (gamepad2.dpadUpWasPressed() || gamepad1.dpadUpWasPressed()) {
+                hoodOffset -= 0.03;
+                autoHoodOffset -= 0.02;
+
+            } else if (gamepad2.dpadDownWasPressed() || gamepad1.dpadDownWasPressed()) {
+                hoodOffset += 0.03;
+                autoHoodOffset += 0.02;
+
+            }
+
+            if (gamepad2.cross) {
+                manualOffset = 0;
+                overrideTurr = true;
+            }
+
+            if (gamepad2.squareWasPressed()) {
+                drive = new MecanumDrive(hardwareMap, new Pose2d(20, 0, 0));
+                sleep(1500);
+            }
+
+            if (gamepad2.triangle) {
+                autoHood = false;
+                hoodOffset = 0;
+            }
+
+            if (gamepad2.circleWasPressed()) {
+                xOffset = robotX;
+                yOffset = robotY;
+                headingOffset = robotHeading;
+
+                autoHood = true;
+                fixedTurret = false;
+            }
+
+            if (enableSpindexerManager) {
+                //if (!shootAll) {
+                spindexer.processIntake();
+                //}
+
+                // RIGHT_BUMPER
+                if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
+                    robot.intake.setPower(1);
+                } else {
+                    robot.intake.setPower(0);
+
+                }
+
+                // LEFT_BUMPER
+                if (!shootAll && gamepad1.leftBumperWasReleased()) {
+                    shootStamp = getRuntime();
+                    shootAll = true;
+
+                    shooterTicker = 0;
+
+                }
+                intakeTicker++;
+                if (shootAll) {
+                    intakeTicker = 0;
+                    intake = false;
+                    reject = false;
+
+                    if (shooterTicker == 0) {
+                        spindexer.prepareShootAllContinous();
+                        TELE.addLine("preparing to shoot");
+//                    } else if (shooterTicker == 2) {
+//                        //robot.transferServo.setPosition(transferServo_in);
+//                        spindexer.shootAll();
+//                        TELE.addLine("starting to shoot");
+                    } else if (!spindexer.shootAllComplete()) {
+                        robot.transferServo.setPosition(transferServo_in);
+                        TELE.addLine("shoot");
+                    } else {
+                        robot.transferServo.setPosition(transferServo_out);
+                        //spindexPos = spindexer_intakePos1;
+                        shootAll = false;
+                        spindexer.resetSpindexer();
+                        //spindexer.processIntake();
+                        TELE.addLine("stop shooting");
+                    }
+                    shooterTicker++;
+                    //spindexer.processIntake();
+                }
+
+                if (gamepad1.left_stick_button) {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+                    spindexer.resetSpindexer();
+                }
+            }
+
+            //EXTRA STUFFINESS:
+            drive.updatePoseEstimate();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+//
+//            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
+//            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
+//            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
+//
+//            TELE.addData("pose", drive.localizer.getPose());
+//            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+//            TELE.addData("distanceToGoal", distanceToGoal);
+//            TELE.addData("hood", robot.hood.getPosition());
+//            TELE.addData("targetVel", vel);
+//            TELE.addData("Velocity", flywheel.getVelo());
+//            TELE.addData("Velo1", flywheel.velo1);
+//            TELE.addData("Velo2", flywheel.velo2);
+//            TELE.addData("shootOrder", shootOrder);
+//            TELE.addData("oddColor", oddBallColor);
+//
+//            // Spindexer Debug
+            TELE.addData("spinEqual", servo.spinEqual(spindexer_intakePos1));
+            TELE.addData("spinCommmandedPos", spindexer.commandedIntakePosition);
+            TELE.addData("spinIntakeState", spindexer.currentIntakeState);
+            TELE.addData("spinTestCounter", spindexer.counter);
+            TELE.addData("autoSpintake", autoSpintake);
+//
+//            TELE.addData("shootall commanded", shootAll);
+//            // Targeting Debug
+//            TELE.addData("robotX", robotX);
+//            TELE.addData("robotY", robotY);
+//            TELE.addData("robotInchesX", targeting.robotInchesX);
+//            TELE.addData( "robotInchesY", targeting.robotInchesY);
+//            TELE.addData("Targeting Interpolate", turretInterpolate);
+            TELE.addData("Targeting GridX", targeting.robotGridX);
+            TELE.addData("Targeting GridY", targeting.robotGridY);
+            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
+//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+
+            TELE.update();
+
+            ticker++;
+        }
+    }
+
+}

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

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

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

@@ -0,0 +1,37 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class AprilTagWebcamExample extends OpMode {
+
+    MultipleTelemetry TELE;
+    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
+
+    @Override
+    public void init() {
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
+
+    }
+
+    @Override
+    public void loop() {
+
+        aprilTagWebcam.update();
+        aprilTagWebcam.displayAllTelemetry();
+        TELE.update();
+
+    }
+}

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

@@ -0,0 +1,66 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.colorFilterAlpha;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class ColorTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        double color1Distance = 0;
+        double color2Distance = 0;
+        double color3Distance = 0;
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while(opModeIsActive()){
+            double green1 = robot.color1.getNormalizedColors().green;
+            double blue1 = robot.color1.getNormalizedColors().blue;
+            double red1 = robot.color1.getNormalizedColors().red;
+            double dist1 = robot.color1.getDistance(DistanceUnit.MM);
+            color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
+
+            TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
+            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 distance (mm)", color1Distance);
+
+// ----- COLOR 2 -----
+            double green2 = robot.color2.getNormalizedColors().green;
+            double blue2 = robot.color2.getNormalizedColors().blue;
+            double red2 = robot.color2.getNormalizedColors().red;
+            double dist2 = robot.color2.getDistance(DistanceUnit.MM);
+            color2Distance = (colorFilterAlpha * dist2) + ((1-colorFilterAlpha) * color2Distance);
+
+            TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
+            TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
+            TELE.addData("Color2 distance (mm)", color2Distance);
+
+// ----- COLOR 3 -----
+            double green3 = robot.color3.getNormalizedColors().green;
+            double blue3 = robot.color3.getNormalizedColors().blue;
+            double red3 = robot.color3.getNormalizedColors().red;
+            double dist3 = robot.color3.getDistance(DistanceUnit.MM);
+            color3Distance = (colorFilterAlpha * dist3) + ((1-colorFilterAlpha) * color3Distance);
+
+            TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
+            TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
+            TELE.addData("Color3 distance (mm)", color3Distance);
+
+            TELE.update();
+        }
+    }
+}

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

@@ -0,0 +1,222 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+import java.util.ArrayList;
+import java.util.List;
+
+
+public class IntakeTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    List<Double> s1G = new ArrayList<>();
+    List<Double> s2G = new ArrayList<>();
+    List<Double> s3G = new ArrayList<>();
+    List<Double> s1T = new ArrayList<>();
+    List<Double> s2T = new ArrayList<>();
+    List<Double> s3T = new ArrayList<>();
+    List<Boolean> s1 = new ArrayList<>();
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    public static int mode = 0; // 0 for teleop, 1 for auto
+    public static double manualPow = 0.15;
+    double stamp = 0;
+    int ticker = 0;
+    boolean steadySpin = false;
+    double powPID = 0.0;
+    boolean intake = true;
+    double spindexerPos = spindexer_intakePos1;
+    boolean wasMoving = false;
+    double currentPos = 0.0;
+    double initPos = 0.0;
+    boolean reverse = false;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        robot = new Robot(hardwareMap);
+        servo = new Servos(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+            if (mode == 0) {
+                if (gamepad1.right_bumper) {
+                    ticker++;
+                    if (ticker % 16 == 0){
+                        currentPos = servo.getSpinPos();
+                        if (Math.abs(currentPos - initPos) == 0.0){
+                            reverse = !reverse;
+                        }
+                        initPos = currentPos;
+                    }
+                    if (reverse){
+                        robot.spin1.setPosition(manualPow);
+                        robot.spin2.setPosition(-manualPow);
+                    } else {
+                        robot.spin1.setPosition(-manualPow);
+                        robot.spin2.setPosition(manualPow);
+                    }
+                    robot.intake.setPower(1);
+                    stamp = getRuntime();
+                    TELE.addData("Reverse?", reverse);
+                    TELE.update();
+                } else {
+                    robot.spin1.setPosition(0);
+                    robot.spin2.setPosition(0);
+
+                    if (getRuntime() - stamp < 1) {
+                        robot.intake.setPower(-(getRuntime() - stamp)*2);
+                    } else {
+                        robot.intake.setPower(0);
+                    }
+
+                    ticker = 0;
+                }
+            } else if (mode == 1) {
+
+                if (gamepad1.right_bumper && intake){
+                    robot.intake.setPower(1);
+                } else if (gamepad1.left_bumper){
+                    robot.intake.setPower(-1);
+                } else {
+                    robot.intake.setPower(0);
+                }
+
+                colorDetect();
+                spindexer();
+
+                if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
+                    if (!ballIn(2)){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            spindexerPos = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            spindexerPos = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            spindexerPos = spindexer_intakePos1;
+                        }
+                    } else if (!ballIn(3)){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            spindexerPos = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            spindexerPos = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            spindexerPos = spindexer_intakePos2;
+                        }
+                    }
+                }
+
+            } else if (mode == 2){ // switch to this mode before switching modes or to reset balls
+                powPID = 0;
+                spindexerPos = spindexer_intakePos1;
+                stamp = getRuntime();
+                ticker = 0;
+                spindexer();
+                intake = true;
+            }
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
+            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
+            double rx = gamepad1.left_stick_x;
+
+            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+            double frontLeftPower = (y + x + rx) / denominator;
+            double backLeftPower = (y - x + rx) / denominator;
+            double frontRightPower = (y - x - rx) / denominator;
+            double backRightPower = (y + x - rx) / denominator;
+
+            robot.frontLeft.setPower(frontLeftPower);
+            robot.backLeft.setPower(backLeftPower);
+            robot.frontRight.setPower(frontRightPower);
+            robot.backRight.setPower(backRightPower);
+
+            TELE.addData("Manual Power", manualPow);
+            TELE.addData("PID Power", powPID);
+            TELE.addData("B1", ballIn(1));
+            TELE.addData("B2", ballIn(2));
+            TELE.addData("B3", ballIn(3));
+            TELE.addData("Spindex Pos", servo.getSpinPos());
+            TELE.update();
+        }
+    }
+
+    public void colorDetect() {
+        double s1D = robot.color1.getDistance(DistanceUnit.MM);
+        double s2D = robot.color2.getDistance(DistanceUnit.MM);
+        double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+        TELE.addData("Color 1 Distance", s1D);
+        TELE.addData("Color 2 Distance", s2D);
+        TELE.addData("Color 3 Distance", s3D);
+        TELE.update();
+
+        if (s1D < 43) {
+            s1T.add(getRuntime());
+        }
+
+        if (s2D < 60) {
+            s2T.add(getRuntime());
+        }
+
+        if (s3D < 33) {
+            s3T.add(getRuntime());
+        }
+    }
+
+    public void spindexer() {
+        boolean atTarget = servo.spinEqual(spindexerPos);
+
+        if (!atTarget) {
+            powPID = servo.setSpinPos(spindexerPos);
+            robot.spin1.setPosition(powPID);
+            robot.spin2.setPosition(-powPID);
+
+            steadySpin = false;
+            wasMoving = true;   // remember we were moving
+            stamp = getRuntime();
+        } else {
+            robot.spin1.setPosition(0);
+            robot.spin2.setPosition(0);
+            steadySpin = true;
+            wasMoving = false;
+        }
+    }
+
+    boolean ballIn(int slot) {
+        List<Double> times;
+
+        if (slot == 1) {times = s1T;}
+        else if (slot == 2) {times = s2T;}
+        else if (slot == 3) {times = s3T;}
+        else return false;
+
+        if (!times.isEmpty()){
+            return times.get(times.size() - 1) > getRuntime() - 2;
+        } else {
+            return false;
+        }
+    }
+
+}

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

@@ -0,0 +1,69 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Config
+@TeleOp
+//TODO: fix to get the apriltag that it is reading
+public class LimelightTest extends LinearOpMode {
+    MultipleTelemetry TELE;
+    Turret turret;
+    Robot robot;
+    public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 4 is for red track; DO NOT USE 3
+    public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
+    public static boolean turretMode = false;
+    public static double turretPos = 0.501;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        robot = new Robot(hardwareMap);
+        turret = new Turret(robot, TELE, robot.limelight);
+        robot.limelight.pipelineSwitch(pipeline);
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()){
+            if (mode == 0){
+                robot.limelight.pipelineSwitch(pipeline);
+                LLResult result = robot.limelight.getLatestResult();
+                if (result != null) {
+                    if (result.isValid()) {
+                        TELE.addData("tx", result.getTx());
+                        TELE.addData("ty", result.getTy());
+                        TELE.update();
+                    }
+                }
+            } else if (mode == 1){
+                int obeliskID = turret.detectObelisk();
+                TELE.addData("Limelight ID", obeliskID);
+                TELE.update();
+            } else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
+                double tx = turret.getBearing();
+                double ty = turret.getTy();
+                double x = turret.getLimelightX();
+                double y = turret.getLimelightY();
+                TELE.addData("tx", tx);
+                TELE.addData("ty", ty);
+                TELE.addData("x", x);
+                TELE.addData("y", y);
+                TELE.update();
+            } else {
+                robot.limelight.pipelineSwitch(0);
+            }
+
+            if (turretMode){
+                if (turretPos != 0.501){
+                    turret.manualSetTurret(turretPos);
+                }
+            }
+
+        }
+    }
+}

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

@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class MotorDirectionDebugger extends LinearOpMode {
+
+    public static double flPower = 0.0;
+
+    public static double frPower = 0.0;
+
+    public static double blPower = 0.0;
+    public static double brPower = 0.0;
+
+    Robot robot;
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+
+        waitForStart();
+
+        if(isStopRequested()) return;
+
+        while(opModeIsActive()){
+
+            robot.frontLeft.setPower(flPower);
+            robot.frontRight.setPower(frPower);
+            robot.backRight.setPower(brPower);
+            robot.backLeft.setPower(blPower);
+
+
+
+        }
+    }
+}

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

@@ -0,0 +1,62 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+public class PIDServoTest extends LinearOpMode {
+
+    public static double p = 2, i = 0, d = 0, f = 0;
+
+    public static double target = 0.5;
+
+    public static int mode = 0; //0 is for turret, 1 is for spindexer
+
+    public static double scalar = 1.01;
+    public static double restPos = 0.0;
+
+    Robot robot;
+
+    double pos = 0.0;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        PIDFController controller = new PIDFController(p, i, d, f);
+
+        controller.setTolerance(0.001);
+        robot = new Robot(hardwareMap);
+
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+            controller.setPIDF(p, i, d, f);
+            if (mode == 1) {
+                pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
+
+                double pid = controller.calculate(pos, target);
+
+                robot.spin1.setPosition(pid);
+                robot.spin2.setPosition(-pid);
+            }
+
+            telemetry.addData("pos", pos);
+            telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
+            telemetry.addData("target", target);
+            telemetry.addData("Mode", mode);
+            telemetry.update();
+
+        }
+
+    }
+
+}

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

@@ -0,0 +1,159 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinSpeedIncrease;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+
+@Config
+@TeleOp
+public class ShooterTest extends LinearOpMode {
+    public static int mode = 1;
+    public static double parameter = 0.0;
+    // --- CONSTANTS YOU TUNE ---
+
+    //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
+    public static double Velocity = 0.0;
+    public static double P = 255.0;
+    public static double I = 0.0;
+    public static double D = 0.0;
+    public static double F = 7.5;
+    public static double transferPower = 1.0;
+    public static double hoodPos = 0.501;
+    public static double turretPos = 0.501;
+    public static boolean shoot = false;
+
+    public static boolean intake = false;
+    Robot robot;
+    Flywheel flywheel;
+    Servos servo;
+
+    double shootStamp = 0.0;
+    boolean shootAll = false;
+
+    public double spinPow = 0.09;
+
+    public static boolean enableHoodAutoOpen = false;
+    public double hoodAdjust = 0.0;
+    public static double hoodAdjustFactor = 1.0;
+    private int shooterTicker = 0;
+    Spindexer spindexer ;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+        DcMotorEx leftShooter = robot.shooter1;
+        DcMotorEx rightShooter = robot.shooter2;
+        flywheel = new Flywheel(hardwareMap);
+        spindexer = new Spindexer(hardwareMap);
+        servo = new Servos(hardwareMap);
+
+        MultipleTelemetry TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+            if (mode == 0) {
+                rightShooter.setPower(parameter);
+                leftShooter.setPower(parameter);
+            } else if (mode == 1) {
+                flywheel.setPIDF(P, I, D, F);
+                flywheel.manageFlywheel((int) Velocity);
+            }
+
+            if (hoodPos != 0.501) {
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                } else {
+                    robot.hood.setPosition(hoodPos);
+                }
+            }
+
+            if (intake) {
+                robot.intake.setPower(1);
+
+            } else {
+                robot.intake.setPower(0);
+            }
+
+
+            if (shoot) {
+                shootStamp = getRuntime();
+                shootAll = true;
+                shoot = false;
+                robot.transfer.setPower(transferPower);
+                shooterTicker = 0;
+            }
+            if (shootAll) {
+
+                //intake = false;
+                //reject = false;
+
+                // TODO: Change starting position based on desired order to shoot green ball
+                //spindexPos = spindexer_intakePos1;
+                if (getRuntime() - shootStamp < 3.5) {
+
+                    if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
+                        robot.spin1.setPosition(spinStartPos);
+                        robot.spin2.setPosition(1-spinStartPos);
+                    } else {
+                        robot.transferServo.setPosition(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = robot.spin1.getPosition();
+                        robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
+                        robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
+                    }
+
+
+
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+
+                    shootAll = false;
+                    shooterTicker = 0;
+
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.transfer.setPower(0);
+
+
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+                }
+            } else {
+                spindexer.processIntake();
+            }
+
+            TELE.addData("Velocity", flywheel.getVelo());
+            TELE.addData("Velocity 1", flywheel.getVelo1());
+            TELE.addData("Velocity 2", flywheel.getVelo2());
+            TELE.addData("Power", robot.shooter1.getPower());
+            TELE.addData("Steady?", flywheel.getSteady());
+            TELE.addData("Position", robot.shooter1.getCurrentPosition());
+
+            TELE.update();
+
+        }
+
+    }
+}

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

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

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

@@ -0,0 +1,104 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import android.util.Size;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class AprilTagWebcam {
+
+    private AprilTagProcessor aprilTagProcessor;
+    private VisionPortal visionPortal;
+    private List<AprilTagDetection> detectedTags = new ArrayList<>();
+    private MultipleTelemetry telemetry;
+    public void init(Robot robot, MultipleTelemetry TELE){
+
+        this.telemetry = TELE;
+
+        aprilTagProcessor = new AprilTagProcessor.Builder()
+                .setDrawTagID(true)
+                .setDrawTagOutline(true)
+                .setDrawAxes(true)
+                .setDrawCubeProjection(true)
+                .setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
+                .build();
+
+        VisionPortal.Builder builder = new VisionPortal.Builder();
+        builder.setCamera(robot.webcam);
+        builder.setCameraResolution(new Size(640, 480));
+        builder.addProcessor(aprilTagProcessor);
+
+        visionPortal = builder.build();
+
+    }
+
+    public void update() {
+        detectedTags = aprilTagProcessor.getDetections();
+    }
+
+    public List<AprilTagDetection> getDetectedTags() {
+        return detectedTags;
+    }
+
+    public AprilTagDetection getTagById(int id){
+        for (AprilTagDetection detection : detectedTags) {
+            if (detection.id ==id){
+                return detection;
+            }
+        }
+        return null;
+    }
+
+    public void stop(){
+        if (visionPortal != null){
+            visionPortal.close();
+        }
+    }
+
+    //Helper Functions
+
+    public void displayDetectionTelemetry (AprilTagDetection detectedId){
+        if (detectedId ==null){return;}
+
+        if (detectedId.metadata != null) {
+            telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
+            telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
+            telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
+            telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
+        } else {
+            telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
+            telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detectedId.center.x, detectedId.center.y));
+        }
+    }
+
+    public void displayAllTelemetry (){
+        if (detectedTags ==null){return;}
+
+        telemetry.addData("# AprilTags Detected", detectedTags.size());
+
+
+        for (AprilTagDetection detection : detectedTags) {
+            if (detection.metadata != null) {
+                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } else {
+                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
+                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
+            }
+        }   // end for() loop
+    }
+
+
+
+
+}

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

@@ -0,0 +1,233 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.hardware.rev.RevColorSensorV3;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
+
+@Config
+@TeleOp
+public class ConfigureColorRangefinder extends LinearOpMode {
+
+
+
+    public static double lowerBound = 80;
+    public static double higherBound = 120;
+
+    public static int led = 0;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        ColorRangefinder crf = new ColorRangefinder(hardwareMap.get(RevColorSensorV3.class, "color"));
+        waitForStart();
+        /* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
+            pin0 --> purple
+            pin1 --> green */
+        crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 3,  20);
+        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, lowerBound, higherBound); // green
+        crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); //25 mm or closer
+        crf.setLedBrightness(led);
+
+    }
+}
+
+/**
+ * Helper class for configuring the Brushland Labs Color Rangefinder.
+ * Online documentation: <a href="https://docs.brushlandlabs.com">...</a>
+ */
+class ColorRangefinder {
+    private final I2cDeviceSynchSimple i2c;
+
+    public ColorRangefinder(RevColorSensorV3 emulator) {
+        this.i2c = emulator.getDeviceClient();
+        this.i2c.enableWriteCoalescing(true);
+    }
+
+    /**
+     * Configure Pin 0 to be in digital mode, and add a threshold.
+     * Multiple thresholds can be added to the same pin by calling this function repeatedly.
+     * For colors, bounds should be from 0-255, and for distance, bounds should be from 0-100 (mm).
+     */
+    public void setPin0Digital(DigitalMode digitalMode, double lowerBound, double higherBound) {
+        setDigital(PinNum.PIN0, digitalMode, lowerBound, higherBound);
+    }
+
+    /**
+     * Configure Pin 1 to be in digital mode, and add a threshold.
+     * Multiple thresholds can be added to the same pin by calling this function repeatedly.
+     * For colors, bounds should be from 0-255, and for distance, bounds should be from 0-100 (mm).
+     */
+    public void setPin1Digital(DigitalMode digitalMode, double lowerBound, double higherBound) {
+        setDigital(PinNum.PIN1, digitalMode, lowerBound, higherBound);
+    }
+
+    /**
+     * Sets the maximum distance (in millimeters) within which an object must be located for Pin 0's thresholds to trigger.
+     * This is most useful when we want to know if an object is both close and the correct color.
+     */
+    public void setPin0DigitalMaxDistance(DigitalMode digitalMode, double mmRequirement) {
+        setPin0Digital(digitalMode, mmRequirement, mmRequirement);
+    }
+
+    /**
+     * Sets the maximum distance (in millimeters) within which an object must be located for Pin 1's thresholds to trigger.
+     * This is most useful when we want to know if an object is both close and the correct color.
+     */
+    public void setPin1DigitalMaxDistance(DigitalMode digitalMode, double mmRequirement) {
+        setPin1Digital(digitalMode, mmRequirement, mmRequirement);
+    }
+
+    /**
+     * Invert the hue value before thresholding it, meaning that the colors become their opposite.
+     * This is useful if we want to threshold red; instead of having two thresholds we would invert
+     * the color and look for blue.
+     */
+    public void setPin0InvertHue() {
+        setPin0DigitalMaxDistance(DigitalMode.HSV, 200);
+    }
+
+    /**
+     * Invert the hue value before thresholding it, meaning that the colors become their opposite.
+     * This is useful if we want to threshold red; instead of having two thresholds we would invert
+     * the color and look for blue.
+     */
+    public void setPin1InvertHue() {
+        setPin1DigitalMaxDistance(DigitalMode.HSV, 200);
+    }
+
+    /**
+     * The denominator is what the raw sensor readings will be divided by before being scaled to 12-bit analog.
+     * For the full range of that channel, leave the denominator as 65535 for colors or 100 for distance.
+     * Smaller values will clip off higher ranges of the data in exchange for higher resolution within a lower range.
+     */
+    public void setPin0Analog(AnalogMode analogMode, int denominator) {
+        byte denom0 = (byte) (denominator & 0xFF);
+        byte denom1 = (byte) ((denominator & 0xFF00) >> 8);
+        i2c.write(PinNum.PIN0.modeAddress, new byte[]{analogMode.value, denom0, denom1});
+    }
+
+    /**
+     * Configure Pin 0 as analog output of one of the six data channels.
+     * To read analog, make sure the physical switch on the sensor is flipped away from the
+     * connector side.
+     */
+    public void setPin0Analog(AnalogMode analogMode) {
+        setPin0Analog(analogMode, analogMode == AnalogMode.DISTANCE ? 100 : 0xFFFF);
+    }
+
+    public float[] getCalibration() {
+        java.nio.ByteBuffer bytes =
+                java.nio.ByteBuffer.wrap(i2c.read(CALIB_A_VAL_0, 16)).order(java.nio.ByteOrder.LITTLE_ENDIAN);
+        return new float[]{bytes.getFloat(), bytes.getFloat(), bytes.getFloat(), bytes.getFloat()};
+    }
+
+    /**
+     * Save a brightness value of the LED to the sensor.
+     *
+     * @param value brightness between 0-255
+     */
+    public void setLedBrightness(int value) {
+        i2c.write8(LED_BRIGHTNESS, value);
+    }
+
+    /**
+     * Change the I2C address at which the sensor will be found. The address can be reset to the
+     * default of 0x52 by holding the reset button.
+     *
+     * @param value new I2C address from 1 to 127
+     */
+    public void setI2cAddress(int value) {
+        i2c.write8(I2C_ADDRESS_REG, value << 1);
+    }
+
+    /**
+     * Read distance via I2C
+     * @return distance in millimeters
+     */
+    public double readDistance() {
+        java.nio.ByteBuffer bytes =
+                java.nio.ByteBuffer.wrap(i2c.read(PS_DISTANCE_0, 4)).order(java.nio.ByteOrder.LITTLE_ENDIAN);
+        return bytes.getFloat();
+    }
+
+    private void setDigital(
+            PinNum pinNum,
+            DigitalMode digitalMode,
+            double lowerBound,
+            double higherBound
+    ) {
+        int lo, hi;
+        if (lowerBound == higherBound) {
+            lo = (int) lowerBound;
+            hi = (int) higherBound;
+        } else if (digitalMode.value <= DigitalMode.HSV.value) { // color value 0-255
+            lo = (int) Math.round(lowerBound / 255.0 * 65535);
+            hi = (int) Math.round(higherBound / 255.0 * 65535);
+        } else { // distance in mm
+            float[] calib = getCalibration();
+            if (lowerBound < .5) hi = 2048;
+            else hi = rawFromDistance(calib[0], calib[1], calib[2], calib[3], lowerBound);
+            lo = rawFromDistance(calib[0], calib[1], calib[2], calib[3], higherBound);
+        }
+
+        byte lo0 = (byte) (lo & 0xFF);
+        byte lo1 = (byte) ((lo & 0xFF00) >> 8);
+        byte hi0 = (byte) (hi & 0xFF);
+        byte hi1 = (byte) ((hi & 0xFF00) >> 8);
+        i2c.write(pinNum.modeAddress, new byte[]{digitalMode.value, lo0, lo1, hi0, hi1});
+        try {
+            Thread.sleep(25);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    private double root(double n, double v) {
+        double val = Math.pow(v, 1.0 / Math.abs(n));
+        if (n < 0) val = 1.0 / val;
+        return val;
+    }
+
+    private int rawFromDistance(float a, float b, float c, float x0, double mm) {
+        return (int) (root(b, (mm - c) / a) + x0);
+    }
+
+    private enum PinNum {
+        PIN0(0x28), PIN1(0x2D);
+
+        private final byte modeAddress;
+
+        PinNum(int modeAddress) {
+            this.modeAddress = (byte) modeAddress;
+        }
+    }
+
+    // other writeable registers
+    private static final byte CALIB_A_VAL_0 = 0x32;
+    private static final byte PS_DISTANCE_0 = 0x42;
+    private static final byte LED_BRIGHTNESS = 0x46;
+    private static final byte I2C_ADDRESS_REG = 0x47;
+
+    public static int invertHue(int hue360) {
+        return ((hue360 - 180) % 360);
+    }
+
+    public enum DigitalMode {
+        RED(1), BLUE(2), GREEN(3), ALPHA(4), HSV(5), DISTANCE(6);
+        public final byte value;
+
+        DigitalMode(int value) {
+            this.value = (byte) value;
+        }
+    }
+
+    public enum AnalogMode {
+        RED(13), BLUE(14), GREEN(15), ALPHA(16), HSV(17), DISTANCE(18);
+        public final byte value;
+
+        AnalogMode(int value) {
+            this.value = (byte) value;
+        }
+    }
+}

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

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

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

@@ -0,0 +1,81 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+
+public class Flywheel {
+    Robot robot;
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+    double velo = 0.0;
+    public double velo1 = 0.0;
+    public double velo2 = 0.0;
+    double targetVelocity = 0.0;
+    double powPID = 0.0;
+    boolean steady = false;
+    public Flywheel (HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+        shooterPIDF1 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+        shooterPIDF2 = new PIDFCoefficients
+                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+    }
+
+    public double getVelo () {
+        return velo;
+    }
+    public double getVelo1 () {
+        return velo1;
+    }
+    public double getVelo2 () {
+        return velo2;
+    }
+
+    public boolean getSteady() {
+        return steady;
+    }
+
+    // Set the robot PIDF for the next cycle.
+    public void setPIDF(double p, double i, double d, double f) {
+        shooterPIDF1.p = p;
+        shooterPIDF1.i = i;
+        shooterPIDF1.d = d;
+        shooterPIDF1.f = f;
+        shooterPIDF2.p = p;
+        shooterPIDF2.i = i;
+        shooterPIDF2.d = d;
+        shooterPIDF2.f = f;
+    }
+
+    // Convert from RPM to Ticks per Second
+    private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
+
+    // Convert from Ticks per Second to RPM
+    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
+
+    public double manageFlywheel(double commandedVelocity) {
+        targetVelocity = commandedVelocity;
+
+        // Add code here to set PIDF based on desired RPM
+
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+
+        // Record Current Velocity
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        velo = Math.max(velo1,velo2);
+
+        // really should be a running average of the last 5
+        steady = (Math.abs(targetVelocity - velo) < 200.0);
+
+        return powPID;
+    }
+
+    public void update()
+    {
+    }
+}

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

@@ -0,0 +1,76 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+@TeleOp
+@Config
+public class PositionalServoProgrammer extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servo;
+
+    public static double spindexPos = 0.501;
+    public static double turretPos = 0.501;
+    public static double transferPos = 0.501;
+    public static double hoodPos = 0.501;
+    public static double light = 0.501;
+
+    Turret turret;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        servo = new Servos(hardwareMap);
+
+        turret = new Turret(robot, TELE, robot.limelight );
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()){
+            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos)){
+                robot.spin1.setPosition(spindexPos);
+                robot.spin2.setPosition(1-spindexPos);
+            }
+            if (turretPos != 0.501){
+                robot.turr1.setPosition(turretPos);
+                robot.turr2.setPosition(1-turretPos);
+            }
+            if (transferPos != 0.501){
+                robot.transferServo.setPosition(transferPos);
+            }
+            if (hoodPos != 0.501){
+                robot.hood.setPosition(hoodPos);
+            }
+            if (light !=0.501){
+                robot.light.setPosition(light);
+            }
+            // To check configuration of spindexer:
+            // Set "mode" to 1 and spindexPow to 0.1
+            // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
+            // Do the previous test again to confirm
+            // 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", robot.turr1.getPosition());
+            TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
+            TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
+            TELE.addData("hood pos", robot.hood.getPosition());
+            TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
+            TELE.addData("tpos ", turret.getTurrPos() );
+            TELE.update();
+        }
+    }
+}

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

@@ -1,14 +1,132 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.hardware.ServoEx;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.hardware.rev.RevColorSensorV3;
+import com.qualcomm.robotcore.hardware.AnalogInput;
+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.HardwareMap;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.qualcomm.robotcore.hardware.Servo;
 
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+@Config
 public class Robot {
 
     //Initialize Public Components
 
-    public Robot (HardwareMap hardwareMap) {
+    public static boolean usingLimelight = true;
+    public static boolean usingCamera = false;
+    public DcMotorEx frontLeft;
+    public DcMotorEx frontRight;
+    public DcMotorEx backLeft;
+    public DcMotorEx backRight;
+    public DcMotorEx intake;
+    public DcMotorEx transfer;
+    public PIDFCoefficients shooterPIDF;
+    public double shooterPIDF_P = 255.0;
+    public double shooterPIDF_I = 0.0;
+    public double shooterPIDF_D = 0.0;
+    public double shooterPIDF_F = 7.5;
+    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
+    public DcMotorEx shooter1;
+    public DcMotorEx shooter2;
+    public Servo hood;
+    public Servo transferServo;
+    public Servo turr1;
+    public Servo turr2;
+
+    public Servo spin1;
+
+    public Servo spin2;
+    public AnalogInput spin1Pos;
+    public AnalogInput spin2Pos;
+    public AnalogInput turr1Pos;
+    public AnalogInput transferServoPos;
+    public AprilTagProcessor aprilTagProcessor;
+    public WebcamName webcam;
+    public RevColorSensorV3 color1;
+    public RevColorSensorV3 color2;
+    public RevColorSensorV3 color3;
+    public Limelight3A limelight;
+    public Servo light;
+
+    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");
+        backRight = hardwareMap.get(DcMotorEx.class, "br");
+        frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+        backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
 
+        frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+
+        intake = hardwareMap.get(DcMotorEx.class, "intake");
+
+        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);
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
+        shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter1.setVelocity(0);
+        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setVelocity(0);
+
+        hood = hardwareMap.get(Servo.class, "hood");
+
+        turr1 = hardwareMap.get(Servo.class, "t1");
+
+        turr2 = hardwareMap.get(Servo.class, "t2");
+
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
+
+        //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
+        spin1 = hardwareMap.get(Servo.class, "spin2");
+
+        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
+
+        spin2 = hardwareMap.get(Servo.class, "spin1");
+
+        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
+
+        transfer = hardwareMap.get(DcMotorEx.class, "transfer");
+
+        transferServo = hardwareMap.get(Servo.class, "transferServo");
+
+        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
+
+        transfer.setDirection(DcMotorSimple.Direction.REVERSE);
+        transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
+
+        color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
+
+        color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
+
+        if (usingLimelight) {
+            limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        } else if (usingCamera) {
+            webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
+            aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
+        }
+
+        light = hardwareMap.get(Servo.class, "light");
     }
 }

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

@@ -0,0 +1,55 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+@Config
+public class Servos {
+    //PID constants
+    // TODO: get PIDF constants
+    public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
+    public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
+    public static double spin_scalar = 1.112;
+    public static double spin_restPos = 0.155;
+    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()
+    // TODO: set the restPos and scalar
+    public double getSpinPos() {
+        return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
+    }
+
+    public double setSpinPos(double pos) {
+
+        return pos;
+    }
+
+    public boolean spinEqual(double pos) {
+        return Math.abs(pos - this.getSpinPos()) < 0.03;
+    }
+
+    public double getTurrPos() {
+        return 1.0;
+    }
+
+    public double setTurrPos(double pos) {
+        return 1.0;
+    }
+
+    public boolean turretEqual(double pos) {
+        return true;
+    }
+}

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

@@ -0,0 +1,626 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
+import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Types;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+
+public class Spindexer {
+
+    Robot robot;
+    Servos servos;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    double lastKnownSpinPos = 0.0;
+    MultipleTelemetry TELE;
+
+    PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
+
+    double spinCurrentPos = 0.0;
+
+    public int commandedIntakePosition = 0;
+
+    public double distanceRearCenter = 0.0;
+    public double distanceFrontDriver = 0.0;
+    public double distanceFrontPassenger = 0.0;
+
+    public double spindexerWiggle = 0.01;
+
+    public double spindexerOuttakeWiggle = 0.01;
+    private double prevPos = 0.0;
+    public double spindexerPosOffset = 0.00;
+    public Types.Motif desiredMotif = Types.Motif.NONE;
+    // For Use
+    enum RotatedBallPositionNames {
+        REARCENTER,
+        FRONTDRIVER,
+        FRONTPASSENGER
+    }
+    // Array of commandedIntakePositions with contents
+    // {RearCenter, FrontDriver, FrontPassenger}
+    static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
+    class spindexerBallRoatation {
+        int rearCenter = 0; // aka commanded Position
+        int frontDriver = 0;
+        int frontPassenger = 0;
+    }
+
+    enum IntakeState {
+        UNKNOWN_START,
+        UNKNOWN_MOVE,
+        UNKNOWN_DETECT,
+        INTAKE,
+        FINDNEXT,
+        MOVING,
+        FULL,
+        SHOOTNEXT,
+        SHOOTMOVING,
+        SHOOTWAIT,
+        SHOOT_ALL_PREP,
+        SHOOT_ALL_READY,
+        SHOOT_PREP_CONTINOUS,
+        SHOOT_CONTINOUS
+    }
+
+    int shootWaitCount = 0;
+
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
+    public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
+    public int unknownColorDetect = 0;
+    public enum BallColor {
+        UNKNOWN,
+        GREEN,
+        PURPLE
+    }
+
+    class BallPosition {
+        boolean isEmpty = true;
+        int foundEmpty = 0;
+        BallColor ballColor = BallColor.UNKNOWN;
+    }
+
+    BallPosition[] ballPositions = new BallPosition[3];
+
+    public boolean init () {
+        return true;
+    }
+
+    public Spindexer(HardwareMap hardwareMap) {
+        robot = new Robot(hardwareMap);
+        servos = new Servos(hardwareMap);
+        flywheel = new Flywheel(hardwareMap);
+        //TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        lastKnownSpinPos = servos.getSpinPos();
+
+        ballPositions[0] = new BallPosition();
+        ballPositions[1] = new BallPosition();
+        ballPositions[2] = new BallPosition();
+
+
+    }
+
+
+    double[] outakePositions =
+            {spindexer_outtakeBall1+spindexerPosOffset,
+                    spindexer_outtakeBall2+spindexerPosOffset,
+                    spindexer_outtakeBall3+spindexerPosOffset};
+
+    double[] intakePositions =
+            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
+
+    public int counter = 0;
+
+//    private double getTimeSeconds ()
+//    {
+//        return (double) System.currentTimeMillis()/1000.0;
+//    }
+
+//    public double getPos() {
+//        robot.spin1Pos.getVoltage();
+//        robot.spin1Pos.getMaxVoltage();
+//        return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
+//    }
+
+//    public void manageSpindexer() {
+//
+//    }
+
+    public void resetBallPosition (int pos) {
+        ballPositions[pos].isEmpty = true;
+        ballPositions[pos].foundEmpty = 0;
+        ballPositions[pos].ballColor = BallColor.UNKNOWN;
+        distanceRearCenter = 61;
+        distanceFrontDriver = 61;
+        distanceFrontPassenger = 61;
+    }
+
+    public void resetSpindexer () {
+        for (int i = 0; i < 3; i++) {
+            resetBallPosition(i);
+        }
+        currentIntakeState = IntakeState.UNKNOWN_START;
+    }
+
+    // Detects if a ball is found and what color.
+    // Returns true is there was a new ball found in Position 1
+    // FIXIT: Reduce number of times that we read the color sensors for loop times.
+    public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
+
+        boolean newPos1Detection = false;
+        int spindexerBallPos = 0;
+
+        // Read Distances
+        double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+        distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
+        double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+        distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
+        double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+        distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
+
+        // Position 1
+        if (distanceRearCenter < 60) {
+
+            // Mark Ball Found
+            newPos1Detection = true;
+
+            if (detectRearColor) {
+                // Detect which color
+                double green = robot.color1.getNormalizedColors().green;
+                double red = robot.color1.getNormalizedColors().red;
+                double blue = robot.color1.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                // FIXIT - Add filtering to improve accuracy.
+                if (gP >= 0.38) {
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // green
+                } else {
+                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
+                }
+           }
+        }
+        // Position 2
+        // Find which ball position this is in the spindexer
+        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
+        if (distanceFrontDriver < 50) {
+            // reset FoundEmpty because looking for 3 in a row before reset
+            ballPositions[spindexerBallPos].foundEmpty = 0;
+            if (detectFrontColor) {
+                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) {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                }
+            }
+        } else {
+            if (!ballPositions[spindexerBallPos].isEmpty) {
+                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
+                    resetBallPosition(spindexerBallPos);
+                }
+                ballPositions[spindexerBallPos].foundEmpty++;
+            }
+
+        }
+
+        // Position 3
+        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
+        if (distanceFrontPassenger < 29) {
+
+            // reset FoundEmpty because looking for 3 in a row before reset
+            ballPositions[spindexerBallPos].foundEmpty = 0;
+            if (detectFrontColor) {
+                double green = robot.color3.getNormalizedColors().green;
+                double red = robot.color3.getNormalizedColors().red;
+                double blue = robot.color3.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                if (gP >= 0.42) {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
+                } else {
+                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
+                }
+            }
+        } else {
+            if (!ballPositions[spindexerBallPos].isEmpty) {
+                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
+                    resetBallPosition(spindexerBallPos);
+                }
+                ballPositions[spindexerBallPos].foundEmpty++;
+            }
+        }
+
+//      TELE.addData("Velocity", velo);
+//      TELE.addLine("Detecting");
+//      TELE.addData("Distance 1", s1D);
+//      TELE.addData("Distance 2", s2D);
+//      TELE.addData("Distance 3", s3D);
+//      TELE.addData("B1", b1);
+//      TELE.addData("B2", b2);
+//      TELE.addData("B3", b3);
+//      TELE.update();
+
+        return newPos1Detection;
+    }
+    // Has code to unjam spindexer
+    private void moveSpindexerToPos(double pos) {
+        robot.spin1.setPosition(pos);
+        robot.spin2.setPosition(1-pos);
+//        double currentPos = servos.getSpinPos();
+//        if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
+//            if (currentPos > pos){
+//                robot.spin1.setPosition(servos.getSpinPos() + 0.05);
+//                robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
+//            } else {
+//                robot.spin1.setPosition(servos.getSpinPos() - 0.05);
+//                robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
+//            }
+//        }
+//        prevPos = currentPos;
+    }
+
+    public void stopSpindexer() {
+
+    }
+
+    public void ballCounterLight(){
+        int counter = 0;
+        if (!ballPositions[0].isEmpty){
+            counter++;
+        }
+        if (!ballPositions[1].isEmpty){
+            counter++;
+        }
+        if (!ballPositions[2].isEmpty){
+            counter++;
+        }
+        if (counter == 3){
+            robot.light.setPosition(Light3);
+        } else if (counter == 2){
+            robot.light.setPosition(Light2);
+        } else if (counter == 1){
+            robot.light.setPosition(Light1);
+        } else {
+            robot.light.setPosition(Light0);
+        }
+    }
+
+    public boolean slotIsEmpty(int slot){
+        return !ballPositions[slot].isEmpty;
+    }
+
+    public boolean isFull () {
+        return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
+    }
+
+    private double intakeTicker = 0;
+    public boolean processIntake() {
+
+        switch (currentIntakeState) {
+            case UNKNOWN_START:
+                // For now just set position ONE if UNKNOWN
+                commandedIntakePosition = 0;
+                moveSpindexerToPos(intakePositions[0]);
+                currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
+                break;
+            case UNKNOWN_MOVE:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
+                    stopSpindexer();
+                    unknownColorDetect = 0;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+            case UNKNOWN_DETECT:
+                if (unknownColorDetect >5) {
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                } else {
+                    //detectBalls(true, true);
+                    unknownColorDetect++;
+                }
+                break;
+            case INTAKE:
+                // Ready for intake and Detecting a New Ball
+                if (detectBalls(true, false)) {
+                    ballPositions[commandedIntakePosition].isEmpty = false;
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                } else {
+                    // Maintain Position
+                    spindexerWiggle *= -1.0;
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
+                }
+                break;
+            case FINDNEXT:
+                // Find Next Open Position and start movement
+                double currentSpindexerPos = servos.getSpinPos();
+                double commandedtravelDistance = 2.0;
+                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
+                //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                if (ballPositions[0].isEmpty) {
+                    // Position 1
+                    commandedIntakePosition = 0;
+                    currentIntakeState = Spindexer.IntakeState.MOVING;
+                }
+                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
+                //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
+                else if (ballPositions[1].isEmpty) {
+                    // Position 2
+                    commandedIntakePosition = 1;
+                    currentIntakeState = Spindexer.IntakeState.MOVING;
+                }
+                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
+                else if (ballPositions[2].isEmpty) {
+                    // Position 3
+                    commandedIntakePosition = 2;
+                    currentIntakeState = Spindexer.IntakeState.MOVING;
+                }
+                if (currentIntakeState != Spindexer.IntakeState.MOVING) {
+                    // Full
+                    //commandedIntakePosition = bestFitMotif();
+                    currentIntakeState = Spindexer.IntakeState.FULL;
+                }
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                break;
+
+            case MOVING:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
+                    if (intakeTicker > 1){
+                        currentIntakeState = Spindexer.IntakeState.INTAKE;
+                        stopSpindexer();
+                        intakeTicker = 0;
+                    } else {
+                        intakeTicker++;
+                    }
+                    //detectBalls(false, false);
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            case FULL:
+                // Double Check Colors
+                detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
+                    // Error handling found an empty spot, get it ready for a ball
+                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+                }
+                // Maintain Position
+                spindexerWiggle *= -1.0;
+                moveSpindexerToPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
+                break;
+
+            case SHOOT_ALL_PREP:
+                // We get here with function call to prepareToShootMotif
+                // Stopping when we get to the new position
+                commandedIntakePosition = 0;
+                if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                }
+                break;
+
+            case SHOOT_ALL_READY: // Not used
+                // Double Check Colors
+                //detectBalls(false, false); // Minimize hardware calls
+                if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
+                    // All ball shot move to intake state
+                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+                }
+                // Maintain Position
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                break;
+
+            case SHOOTNEXT:
+                // Find Next Open Position and start movement
+                if (!ballPositions[0].isEmpty) {
+                    // Position 1
+                    commandedIntakePosition = 0;
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else if (!ballPositions[1].isEmpty) {
+                    // Position 2
+                    commandedIntakePosition = 1;
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else if (!ballPositions[2].isEmpty) {
+                    // Position 3
+                    commandedIntakePosition = 2;
+                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
+                } else {
+                    // Empty return to intake state
+                    currentIntakeState = IntakeState.FINDNEXT;
+                }
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                break;
+
+            case SHOOTMOVING:
+                // Stopping when we get to the new position
+                if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
+                } else {
+                    // Keep moving the spindexer
+                    moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            case SHOOTWAIT:
+                double shootWaitMax = 4;
+                // Stopping when we get to the new position
+                if (prevIntakeState != currentIntakeState) {
+                    if (commandedIntakePosition==2) {
+                        shootWaitMax = 5;
+                    }
+                    shootWaitCount = 0;
+                } else {
+                    shootWaitCount++;
+                }
+                // wait 10 cycles
+                if (shootWaitCount > shootWaitMax) {
+                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+                    ballPositions[commandedIntakePosition].isEmpty = true;
+                    shootWaitCount = 0;
+                    //stopSpindexer();
+                    //detectBalls(true, false);
+                }
+                // Keep moving the spindexer
+                spindexerOuttakeWiggle *= -1.0;
+                moveSpindexerToPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
+                break;
+
+            case SHOOT_PREP_CONTINOUS:
+                if (servos.spinEqual(spinStartPos)){
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+                } else {
+                    moveSpindexerToPos(spinStartPos);
+                }
+                break;
+
+            case SHOOT_CONTINOUS:
+                ballPositions[0].isEmpty = false;
+                ballPositions[1].isEmpty = false;
+                ballPositions[2].isEmpty = false;
+                if (servos.getSpinPos() > spinEndPos){
+                    currentIntakeState = IntakeState.FINDNEXT;
+                } else {
+                    double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
+                    if (spinPos > spinEndPos + 0.03){
+                        spinPos = spinEndPos + 0.03;
+                    }
+                    moveSpindexerToPos(spinPos);
+                }
+                break;
+
+            default:
+                // Statements to execute if no case matches
+        }
+
+        prevIntakeState = currentIntakeState;
+        //TELE.addData("commandedIntakePosition", commandedIntakePosition);
+        //TELE.update();
+        // Signal a successful intake
+        return false;
+    }
+
+    public void setDesiredMotif (Types.Motif newMotif) {
+        desiredMotif = newMotif;
+    }
+
+    // Returns the best fit for the motiff
+    public int bestFitMotif () {
+        switch (desiredMotif) {
+            case GPP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 2;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 1;
+                }
+                //break;
+            case PGP:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else {
+                    return 2;
+                }
+                //break;
+            case PPG:
+                if (ballPositions[0].ballColor == BallColor.GREEN) {
+                    return 1;
+                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
+                    return 0;
+                } else {
+                    return 2;
+                }
+                //break;
+            case NONE:
+                return 0;
+                //break;
+        }
+        return 0;
+    }
+
+    void prepareToShootMotif () {
+        commandedIntakePosition = bestFitMotif();
+    }
+
+    public void prepareShootAll(){
+        currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
+    }
+    public void prepareShootAllContinous(){
+        currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
+    }
+    public void shootAll () {
+        ballPositions[0].isEmpty = false;
+        ballPositions[1].isEmpty = false;
+        ballPositions[2].isEmpty = false;
+        currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
+    }
+    public void shootAllContinous(){
+        ballPositions[0].isEmpty = false;
+        ballPositions[1].isEmpty = false;
+        ballPositions[2].isEmpty = false;
+        currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+    }
+
+    public boolean shootAllComplete ()
+    {
+        return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTNEXT) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOTWAIT) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_PREP_CONTINOUS) &&
+                (currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
+    }
+
+    void shootAllToIntake () {
+        currentIntakeState = Spindexer.IntakeState.FINDNEXT;
+    }
+
+    public void update()
+    {
+    }
+
+    public BallColor GetFrontDriverColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
+    }
+
+    public BallColor GetFrontPassengerColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
+    }
+
+    public BallColor GetRearCenterColor () {
+        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
+    }
+}

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

@@ -0,0 +1,219 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import android.provider.Settings;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class Targeting {
+    MultipleTelemetry TELE;
+
+    double cancelOffsetX = 0.0;  // was -40.0
+    double cancelOffsetY = 0.0;  // was 7.0
+    double unitConversionFactor = 0.95;
+
+    int tileSize = 24; //inches
+    public final int TILE_UPPER_QUARTILE = 18;
+    public final int TILE_LOWER_QUARTILE = 6;
+
+    public double robotInchesX, robotInchesY = 0.0;
+
+    public int robotGridX, robotGridY = 0;
+
+
+    public static class Settings {
+        public double flywheelRPM = 0.0;
+        public double hoodAngle = 0.0;
+
+        public Settings (double flywheelRPM, double hoodAngle) {
+            this.flywheelRPM = flywheelRPM;
+            this.hoodAngle = hoodAngle;
+        }
+    }
+
+    // Known settings discovered using shooter test.
+    // Keep the fidelity at 1 floor tile for now but we could also half it if more
+    // accuracy is needed.
+    public static final Settings[][] KNOWNTARGETING;
+    static {
+        KNOWNTARGETING = new Settings[6][6];
+        // ROW 0 - Closet to the goals
+        KNOWNTARGETING[0][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[0][2] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[0][3] = new Settings (2800.0, 0.68);
+        KNOWNTARGETING[0][4] = new Settings (3000.0, 0.58);
+        KNOWNTARGETING[0][5] = new Settings (3000.0, 0.58);
+        // ROW 1
+        KNOWNTARGETING[1][0] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][1] = new Settings (2300.0, 0.93);
+        KNOWNTARGETING[1][2] = new Settings (2600.0, 0.78);
+        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
+        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
+        // ROW 2
+        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
+        KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
+        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
+        // ROW 3
+        KNOWNTARGETING[3][0] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][1] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][2] = new Settings (2900.0, 0.50);
+        KNOWNTARGETING[3][3] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][4] = new Settings (3100.0, 0.47);
+        KNOWNTARGETING[3][5] = new Settings (3100.0, 0.47);
+        // ROW 4
+        KNOWNTARGETING[4][0] = new Settings (3100, 0.49);
+        KNOWNTARGETING[4][1] = new Settings (3100, 0.49);
+        KNOWNTARGETING[4][2] = new Settings (3100, 0.5);
+        KNOWNTARGETING[4][3] = new Settings (3200, 0.5);
+        KNOWNTARGETING[4][4] = new Settings (3250, 0.49);
+        KNOWNTARGETING[4][5] = new Settings (3300, 0.49);
+        // ROW 5
+        KNOWNTARGETING[5][0] = new Settings (3200, 0.48);
+        KNOWNTARGETING[5][1] = new Settings (3200, 0.48);
+        KNOWNTARGETING[5][2] = new Settings (3300, 0.48);
+        KNOWNTARGETING[5][3] = new Settings (3350, 0.48);
+        KNOWNTARGETING[5][4] = new Settings (3350, 0.48);
+        KNOWNTARGETING[5][5] = new Settings (3350, 0.48);
+    }
+
+    public Targeting()
+    {
+    }
+
+    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
+        Settings recommendedSettings = new Settings(0.0, 0.0);
+
+        double cos45 = Math.cos(Math.toRadians(-45));
+        double sin45 = Math.sin(Math.toRadians(-45));
+        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
+
+        // Convert robot coordinates to inches
+        robotInchesX = rotatedX * unitConversionFactor;
+        robotInchesY = rotatedY * unitConversionFactor;
+
+        // Find approximate location in the grid
+        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+
+        int remX = Math.floorMod((int)robotInchesX, tileSize);
+        int remY = Math.floorMod((int)robotInchesX, tileSize);
+
+        // Determine if we need to interpolate based on tile position.
+        // if near upper or lower quarter or tile interpolate with next tile.
+        int x0 = 0;
+        int y0 = 0;
+        int x1 = 0;
+        int y1 = 0;
+        interpolate = false;
+        if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+                (robotGridX < 5) && (robotGridY <5)) {
+            // +X, +Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+                (robotGridX > 0) && (robotGridY > 0)) {
+            // -X, -Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
+                (robotGridX < 5) && (robotGridY > 0)) {
+            // +X, -Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
+                (robotGridX > 0) && (robotGridY < 5)) {
+            // -X, +Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
+            // -X, Y
+            interpolate = true;
+            x0 = robotGridX - 1;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY;
+        } else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
+            // X, -Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX;
+            y0 = robotGridY - 1;
+            y1 = robotGridY;
+        } else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
+            // +X, Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX + 1;
+            y0 = robotGridY;
+            y1 = robotGridY;
+        } else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
+            // X, +Y
+            interpolate = true;
+            x0 = robotGridX;
+            x1 = robotGridX;
+            y0 = robotGridY;
+            y1 = robotGridY + 1;
+        } else {
+            interpolate = false;
+        }
+
+        //clamp
+        robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+        robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+
+        // basic search
+        if(true) { //!interpolate) {
+            if ((robotGridY < 6) && (robotGridX <6)) {
+                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
+            }
+            return recommendedSettings;
+        } else {
+
+            // bilinear interpolation
+            //int x0 = robotGridX;
+            //int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
+            //int y0 = robotGridY;
+            //int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
+
+//            double x = (robotInchesX - (x0 * tileSize)) / tileSize;
+//            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
+
+//            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
+//            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
+//            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
+//            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
+//
+//            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
+//            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
+//            double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
+//            double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
+
+//            recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
+//            recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
+            // Average target tiles
+            recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM)/2.0;
+            recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle)/2.0;
+            return recommendedSettings;
+        }
+    }
+}

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

@@ -0,0 +1,302 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+
+import static java.lang.Math.abs;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDController;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+import java.util.List;
+
+@Config
+public class Turret {
+
+    public static double turretTolerance = 0.02;
+    public static double turrPosScalar = 0.00011264432;
+    public static double turret180Range = 0.4;
+    public static double turrDefault = 0.4;
+    public static double turrMin = 0.15;
+    public static double turrMax = 0.85;
+
+    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+    public static double cameraBearingEqual = 0.5;      // Deadband
+
+    // TODO: tune these values for limelight
+
+    public static double clampTolerance = 0.03;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Limelight3A webcam;
+
+    double tx = 0.0;
+    double ty = 0.0;
+    double limelightPosX = 0.0;
+    double limelightPosY = 0.0;
+    private boolean lockOffset = false;
+    private int obeliskID = 0;
+
+    private double offset = 0.0;
+    private double currentTrackOffset = 0.0;
+    private int currentTrackCount = 0;
+
+    private double permanentOffset = 0.0;
+
+    LLResult result;
+
+    private PIDController bearingPID;
+    public static double B_PID_P = 0.3, B_PID_I = 0.0, B_PID_D = 0.05;
+    boolean bearingAligned = false;
+
+    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
+        this.TELE = tele;
+        this.robot = rob;
+        this.webcam = cam;
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
+    }
+
+    public void zeroTurretEncoder() {
+        robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
+    public double getTurrPos() {
+        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
+
+    }
+
+    public void manualSetTurret(double pos) {
+        robot.turr1.setPosition(pos);
+        robot.turr2.setPosition(1 - pos);
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
+    }
+
+    private void limelightRead() { // only for tracking purposes, not general reads
+        if (redAlliance) {
+            webcam.pipelineSwitch(4);
+        } else {
+            webcam.pipelineSwitch(2);
+        }
+
+        result = webcam.getLatestResult();
+        if (result != null) {
+            if (result.isValid()) {
+                tx = result.getTx();
+                ty = result.getTy();
+                // MegaTag1 code for receiving position
+                Pose3D botpose = result.getBotpose();
+                if (botpose != null) {
+                    limelightPosX = botpose.getPosition().x;
+                    limelightPosY = botpose.getPosition().y;
+                }
+
+            }
+        }
+    }
+
+    public double getBearing() {
+        tx = 1000;
+        limelightRead();
+        return tx;
+    }
+
+    public double getTy() {
+        return ty;
+    }
+
+    public double getLimelightX() {
+        return limelightPosX;
+    }
+
+    public double getLimelightY() {
+        return limelightPosY;
+    }
+
+    public int detectObelisk() {
+        webcam.pipelineSwitch(1);
+        LLResult result = webcam.getLatestResult();
+        if (result != null && result.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                obeliskID = fiducial.getFiducialId();
+            }
+        }
+        return obeliskID;
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+    public void zeroOffset() {
+        offset = 0.0;
+    }
+
+    public void lockOffset(boolean lock) {
+        lockOffset = lock;
+    }
+
+    /*
+        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
+     */
+
+
+    private double bearingAlign (LLResult llResult) {
+        double bearingOffset = 0.0;
+        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
+        final double MIN_OFFSET_POWER = 0.15;
+        final double TARGET_POSITION_TOLERANCE = 1.0;
+        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+        final double DRIVE_POWER_REDUCTION = 2.0;
+
+        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
+            bearingAligned = true;
+        } else {
+            bearingAligned = false;
+        }
+
+        // Only with valid data and if too far off target
+        if (llResult.isValid() && !bearingAligned)
+        {
+
+            // Adjust Robot Speed based on how far the target is located
+            // Only drive at half speed max
+            // switched to PID but original formula left for reference in comments
+            //drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
+            bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
+
+//            // Make sure we have enough power to actually drive the wheels
+//            if (abs(bearingOffset) < MIN_OFFSET_POWER) {
+//                if (bearingOffset > 0.0) {
+//                    bearingOffset = MIN_OFFSET_POWER;
+//                } else {
+//                    bearingOffset = -MIN_OFFSET_POWER;
+//                }
+//
+//            }
+        }
+
+        return bearingOffset;
+    }
+
+
+    public void trackGoal(Pose2d deltaPos) {
+
+        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
+
+        // Angle from robot to goal in robot frame
+        double desiredTurretAngleDeg = Math.toDegrees(
+                Math.atan2(deltaPos.position.y, deltaPos.position.x)
+        );
+
+        // Robot heading (field → robot)
+        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
+
+        // Turret angle needed relative to robot
+        double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
+        turretAngleDeg = -turretAngleDeg;
+
+        // Normalize to [-180, 180]
+        while (turretAngleDeg > 180) turretAngleDeg -= 360;
+        while (turretAngleDeg < -180) turretAngleDeg += 360;
+
+
+        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
+        // Update local limelight results
+        //double tagBearingDeg = getBearing();  // + = target is to the left
+        //boolean hasValidTarget = (tagBearingDeg != 1000.0);
+
+        turretAngleDeg += permanentOffset;
+
+        limelightRead();
+        // Active correction if we see the target
+        if (result.isValid() && !lockOffset) {
+            currentTrackOffset += bearingAlign(result);
+            currentTrackCount++;
+//            double bearingError = Math.abs(tagBearingDeg);
+//
+//            if (bearingError > cameraBearingEqual) {
+//                // Apply sqrt scaling to reduce aggressive corrections at large errors
+//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
+//
+//                // Calculate correction
+//                double offsetChange = visionCorrectionGain * filteredBearing;
+//
+//                // Limit rate of change to prevent jumps
+//                offsetChange = Math.max(-maxOffsetChangePerCycle,
+//                        Math.min(maxOffsetChangePerCycle, offsetChange));
+//
+//                // Accumulate the correction
+//                offset += offsetChange;
+//
+//                TELE.addData("Bearing Error", tagBearingDeg);
+//                TELE.addData("Offset Change", offsetChange);
+//                TELE.addData("Total Offset", offset);
+//            } else {
+//                // When centered, lock in the learned offset
+//                permanentOffset = offset;
+//                offset = 0.0;
+//            }
+        } else {
+            // only store perma update after 20+ successful tracks
+            // this did not work good in testing; only current works best so far.
+//            if (currentTrackCount > 20) {
+//                offset = currentTrackOffset;
+//            }
+            currentTrackOffset = 0.0;
+            currentTrackCount = 0;
+        }
+
+        // Apply accumulated offset
+        turretAngleDeg += offset + currentTrackOffset;
+
+
+        /* ---------------- ANGLE → SERVO POSITION ---------------- */
+
+        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+
+        // Clamp to physical servo limits
+        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
+
+        // Interpolate towards target position
+        double currentPos = getTurrPos();
+        double turretPos = targetTurretPos;
+
+        if (targetTurretPos == turrMin) {
+            turretPos = turrMin;
+        } else if (targetTurretPos == turrMax) {
+            turretPos = turrMax;
+        }
+
+        // Set servo positions
+        robot.turr1.setPosition(turretPos);
+        robot.turr2.setPosition(1.0 - turretPos);
+
+
+        /* ---------------- TELEMETRY ---------------- */
+
+        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
+        TELE.addData("Target Pos", "%.3f", targetTurretPos);
+        TELE.addData("Current Pos", "%.3f", currentPos);
+        TELE.addData("Commanded Pos", "%.3f", turretPos);
+        TELE.addData("LL Valid", result.isValid());
+        TELE.addData("LL getTx", result.getTx());
+        TELE.addData("LL Offset", offset);
+        //TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
+        TELE.addData("Learned Offset", "%.2f", offset);
+    }
+
+}

build.dependencies.gradle

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

build.gradle

@@ -25,5 +25,9 @@ allprojects {
 }
 
 repositories {
+    repositories {
         mavenCentral()
+        google()
+        maven { url 'https://maven.pedropathing.com' }
+    }
 }