worlin

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java

.slothLoad/SlothLoad.run.xml

@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="SlothLoad" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="TeamCode:deploySloth" />
+        </list>
+      </option>
+      <option name="vmOptions" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <RunAsTest>false</RunAsTest>
+    <method v="2" />
+  </configuration>
+</component>

.teamCodeRun/TeamCode.run.xml

@@ -0,0 +1,75 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="TeamCode" type="AndroidRunConfigurationType" factoryName="Android App" activateToolWindowBeforeRun="false">
+    <module name="DecodeFTCMain.TeamCode" />
+    <option name="ANDROID_RUN_CONFIGURATION_SCHEMA_VERSION" value="1" />
+    <option name="DEPLOY" value="true" />
+    <option name="DEPLOY_APK_FROM_BUNDLE" value="false" />
+    <option name="DEPLOY_AS_INSTANT" value="false" />
+    <option name="ARTIFACT_NAME" value="" />
+    <option name="PM_INSTALL_OPTIONS" value="" />
+    <option name="ALL_USERS" value="false" />
+    <option name="ALWAYS_INSTALL_WITH_PM" value="false" />
+    <option name="ALLOW_ASSUME_VERIFIED" value="false" />
+    <option name="CLEAR_APP_STORAGE" value="false" />
+    <option name="DYNAMIC_FEATURES_DISABLED_LIST" value="" />
+    <option name="ACTIVITY_EXTRA_FLAGS" value="" />
+    <option name="MODE" value="default_activity" />
+    <option name="RESTORE_ENABLED" value="false" />
+    <option name="RESTORE_FILE" value="" />
+    <option name="RESTORE_FRESH_INSTALL_ONLY" value="false" />
+    <option name="CLEAR_LOGCAT" value="false" />
+    <option name="SHOW_LOGCAT_AUTOMATICALLY" value="false" />
+    <option name="TARGET_SELECTION_MODE" value="DEVICE_AND_SNAPSHOT_COMBO_BOX" />
+    <option name="SELECTED_CLOUD_MATRIX_CONFIGURATION_ID" value="-1" />
+    <option name="SELECTED_CLOUD_MATRIX_PROJECT_ID" value="" />
+    <option name="DEBUGGER_TYPE" value="Auto" />
+    <Auto>
+      <option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
+      <option name="SHOW_STATIC_VARS" value="true" />
+      <option name="WORKING_DIR" value="" />
+      <option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
+      <option name="SHOW_OPTIMIZED_WARNING" value="true" />
+      <option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
+      <option name="DEBUG_SANDBOX_SDK" value="false" />
+    </Auto>
+    <Hybrid>
+      <option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
+      <option name="SHOW_STATIC_VARS" value="true" />
+      <option name="WORKING_DIR" value="" />
+      <option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
+      <option name="SHOW_OPTIMIZED_WARNING" value="true" />
+      <option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
+      <option name="DEBUG_SANDBOX_SDK" value="false" />
+    </Hybrid>
+    <Java>
+      <option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
+      <option name="DEBUG_SANDBOX_SDK" value="false" />
+    </Java>
+    <Native>
+      <option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
+      <option name="SHOW_STATIC_VARS" value="true" />
+      <option name="WORKING_DIR" value="" />
+      <option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
+      <option name="SHOW_OPTIMIZED_WARNING" value="true" />
+      <option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
+      <option name="DEBUG_SANDBOX_SDK" value="false" />
+    </Native>
+    <Profilers>
+      <option name="ADVANCED_PROFILING_ENABLED" value="false" />
+      <option name="STARTUP_PROFILING_ENABLED" value="false" />
+      <option name="STARTUP_CPU_PROFILING_ENABLED" value="false" />
+      <option name="STARTUP_CPU_PROFILING_CONFIGURATION_NAME" value="Java/Kotlin Method Sample (legacy)" />
+      <option name="STARTUP_NATIVE_MEMORY_PROFILING_ENABLED" value="false" />
+      <option name="NATIVE_MEMORY_SAMPLE_RATE_BYTES" value="2048" />
+    </Profilers>
+    <option name="DEEP_LINK" value="" />
+    <option name="ACTIVITY" value="" />
+    <option name="ACTIVITY_CLASS" value="" />
+    <option name="SEARCH_ACTIVITY_IN_GLOBAL_SCOPE" value="false" />
+    <option name="SKIP_ACTIVITY_VALIDATION" value="false" />
+    <method v="2">
+      <option name="Gradle.BeforeRunTask" enabled="true" tasks="removeSlothRemote" externalProjectPath="$PROJECT_DIR$/TeamCode" vmOptions="" scriptParameters="" />
+      <option name="Android.Gradle.BeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="60"
-          android:versionName="11.0">
+    android:versionCode="61"
+          android:versionName="11.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java

@@ -92,24 +92,22 @@ public class ConceptAprilTag extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
-            while (opModeIsActive()) {
+        while (opModeIsActive()) {
 
-                telemetryAprilTag();
+            telemetryAprilTag();
 
-                // Push telemetry to the Driver Station.
-                telemetry.update();
+            // Push telemetry to the Driver Station.
+            telemetry.update();
 
-                // Save CPU resources; can resume streaming when needed.
-                if (gamepad1.dpad_down) {
-                    visionPortal.stopStreaming();
-                } else if (gamepad1.dpad_up) {
-                    visionPortal.resumeStreaming();
-                }
-
-                // Share the CPU.
-                sleep(20);
+            // Save CPU resources; can resume streaming when needed.
+            if (gamepad1.dpad_down) {
+                visionPortal.stopStreaming();
+            } else if (gamepad1.dpad_up) {
+                visionPortal.resumeStreaming();
             }
+
+            // Share the CPU.
+            sleep(20);
         }
 
         // Save more CPU resources when camera is no longer needed.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java

@@ -88,24 +88,22 @@ public class ConceptAprilTagEasy extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
-            while (opModeIsActive()) {
+        while (opModeIsActive()) {
 
-                telemetryAprilTag();
+            telemetryAprilTag();
 
-                // Push telemetry to the Driver Station.
-                telemetry.update();
+            // Push telemetry to the Driver Station.
+            telemetry.update();
 
-                // Save CPU resources; can resume streaming when needed.
-                if (gamepad1.dpad_down) {
-                    visionPortal.stopStreaming();
-                } else if (gamepad1.dpad_up) {
-                    visionPortal.resumeStreaming();
-                }
-
-                // Share the CPU.
-                sleep(20);
+            // Save CPU resources; can resume streaming when needed.
+            if (gamepad1.dpad_down) {
+                visionPortal.stopStreaming();
+            } else if (gamepad1.dpad_up) {
+                visionPortal.resumeStreaming();
             }
+
+            // Share the CPU.
+            sleep(20);
         }
 
         // Save more CPU resources when camera is no longer needed.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagSwitchableCameras.java

@@ -81,27 +81,25 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
-            while (opModeIsActive()) {
+        while (opModeIsActive()) {
 
-                telemetryCameraSwitching();
-                telemetryAprilTag();
+            telemetryCameraSwitching();
+            telemetryAprilTag();
 
-                // Push telemetry to the Driver Station.
-                telemetry.update();
+            // Push telemetry to the Driver Station.
+            telemetry.update();
 
-                // Save CPU resources; can resume streaming when needed.
-                if (gamepad1.dpad_down) {
-                    visionPortal.stopStreaming();
-                } else if (gamepad1.dpad_up) {
-                    visionPortal.resumeStreaming();
-                }
-
-                doCameraSwitching();
-
-                // Share the CPU.
-                sleep(20);
+            // Save CPU resources; can resume streaming when needed.
+            if (gamepad1.dpad_down) {
+                visionPortal.stopStreaming();
+            } else if (gamepad1.dpad_up) {
+                visionPortal.resumeStreaming();
             }
+
+            doCameraSwitching();
+
+            // Share the CPU.
+            sleep(20);
         }
 
         // Save more CPU resources when camera is no longer needed.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptGamepadEdgeDetection.java

@@ -83,6 +83,22 @@ public class ConceptGamepadEdgeDetection extends LinearOpMode {
         telemetry.addData("Gamepad 1 Right Bumper Released", gamepad1.rightBumperWasReleased());
         telemetry.addData("Gamepad 1 Right Bumper Status", gamepad1.right_bumper);
 
+        // Add an empty line to separate the buttons in telemetry
+        telemetry.addLine();
+
+        // Add the status of the Gamepad 1 Left trigger
+        telemetry.addData("Gamepad 1 Left Trigger Pressed", gamepad1.leftTriggerWasPressed());
+        telemetry.addData("Gamepad 1 Left Trigger Released", gamepad1.leftTriggerWasReleased());
+        telemetry.addData("Gamepad 1 Left Trigger Status", gamepad1.left_trigger_pressed);
+
+        // Add an empty line to separate the buttons in telemetry
+        telemetry.addLine();
+
+        // Add the status of the Gamepad 1 Right trigger
+        telemetry.addData("Gamepad 1 Right Trigger Pressed", gamepad1.rightTriggerWasPressed());
+        telemetry.addData("Gamepad 1 Right Trigger Released", gamepad1.rightTriggerWasReleased());
+        telemetry.addData("Gamepad 1 Right Trigger Status", gamepad1.right_trigger_pressed);
+
         // Add a note that the telemetry is only updated every 2 seconds
         telemetry.addLine("\nTelemetry is updated every 2 seconds.");
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/externalhardware/ConceptExternalHardwareClass.java

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.robotcontroller.external.samples;
+package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
 
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/externalhardware/RobotHardware.java

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.robotcontroller.external.samples;
+package org.firstinspires.ftc.robotcontroller.external.samples.externalhardware;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;

README.md

@@ -59,6 +59,21 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
 
 # Release Information
 
+## Version 11.1 (20251231-104637)
+
+### Enhancements
+
+* Gamepad triggers can now be accessed as booleans and have edge detection supported.
+* GoBildaPinpointDriver now supports Pinpoint v2 functionality
+* Adds webcam calibrations for goBILDA's USB camera.
+
+### Bug Fixes
+* Fixes issue [1654](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1654) in GoBildaPinpointDriver that caused error if resolution was set in other than MM
+* Fixes issue [1628](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1628) Blocks editor displays incorrect Java code for gamepad edge detection blocks.
+* Fixes possible race condition issue [1884](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1884) on Driver Station startup when Driver Station name doesn't match the Robot Controller name.
+* Fixes issue [1863](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/1863) - Incorrect package paths in samples.
+* Fixes an issue where an OnBotJava filename that begins with a lowercase character would fail to properly rename the file if the user tried to rename it so that it begins with an uppercase character.
+
 ## Version 11.0 (20250827-105138)
 
 ### Enhancements

TeamCode/build.gradle

@@ -12,8 +12,25 @@
 // Custom definitions may go here
 
 // Include common definitions from above.
+
+buildscript {
+    repositories {
+        mavenCentral()
+        maven {
+            url "https://repo.dairy.foundation/releases"
+        }
+    }
+    dependencies {
+        classpath "dev.frozenmilk:Load:0.2.4"
+    }
+}
+
+
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
+// there should be 2 or 3 more lines that start with 'apply plugin:' here
+apply plugin: 'dev.frozenmilk.sinister.sloth.load'
+
 
 android {
     namespace = 'org.firstinspires.ftc.teamcode'
@@ -23,6 +40,37 @@ android {
     }
 }
 
+
+repositories {
+    maven {
+        url = 'https://maven.brott.dev/'
+    }
+    // Dairy releases repository
+    maven {
+        url = "https://repo.dairy.foundation/releases"
+    }
+    // Dairy snapshots repository
+    maven {
+        url = "https://repo.dairy.foundation/snapshots"
+    }
+}
+
 dependencies {
     implementation project(':FtcRobotController')
+    implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
+    implementation 'org.ftclib.ftclib:core:2.1.1' // core
+    implementation("com.acmerobotics.roadrunner:ftc:0.1.25") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+    implementation("com.acmerobotics.roadrunner:actions:1.0.1") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+    implementation("com.acmerobotics.roadrunner:core:1.0.1") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+
+    implementation("com.acmerobotics.slothboard:dashboard:0.2.4+0.5.1") //Slothdashboard
+
+
 }
+

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

@@ -0,0 +1,812 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos0;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
+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.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
+
+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.PoseVelocity2d;
+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.acmerobotics.roadrunner.ftc.PinpointIMU;
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+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;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class Auto_LT_Close extends LinearOpMode {
+    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
+    public static double velGate0Start = 2700, hoodGate0Start = 0.6;
+
+    public static double velGate0End = 2700, hoodGate0End = 0.35;
+    public static double hood0MoveTime = 2;
+    public static double spindexerSpeedIncrease = 0.014;
+
+    public static double shootAllTime  = 6.0;
+    public static double intake1Time = 3.3;
+    public static double intake2Time = 4.2;
+
+    public static double intake3Time = 5.4;
+
+    public static double flywheel0Time = 1.9;
+    public static double pickup1Speed = 14;
+    // ---- POSITION TOLERANCES ----
+    public static double posXTolerance = 5.0;
+    public static double posYTolerance = 5.0;
+    // ---- OBELISK DETECTION ----
+    public static double shoot1Time = 2.5;
+    public static double shoot2Time = 2.5;
+    public static double shoot3Time = 2.5;
+    public static double colorSenseTime = 1.2;
+    public static double waitToShoot0 = 0.5;
+    public static double waitToPickupGate2 = 0.3;
+    public static double pickupStackGateSpeed = 19;
+    public static double intake2TimeGate = 5;
+    public static double shoot2GateTime = 1.7;
+    public static double endGateTime = 22;
+    public static double waitToPickupGateWithPartner = 0.7;
+    public static double waitToPickupGateSolo = 0.01;
+    public static double intakeGateTime = 5.6;
+    public static double shootGateTime = 1.5;
+    public static double shoot1GateTime = 1.7;
+    public static double intake1GateTime = 3.3;
+    public static double lastShootTime = 27;
+
+    public static double openGateX = 26;
+    public static double openGateY = 48;
+    public  static double openGateH = Math.toRadians(155);
+
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+
+    int motif = 0;
+    double x1, y1, h1;
+    double x2a, y2a, h2a, t2a;
+
+    double x2b, y2b, h2b, t2b;
+    double x2c, y2c, h2c, t2c;
+
+    double x3a, y3a, h3a;
+    double x3b, y3b, h3b;
+    double x4a, y4a, h4a;
+    double x4b, y4b, h4b;
+
+    double xShoot, yShoot, hShoot;
+    double xShoot0, yShoot0, hShoot0;
+    double pickupGateAX, pickupGateAY, pickupGateAH;
+    double pickupGateBX, pickupGateBY, pickupGateBH;
+    double xShootGate, yShootGate, hShootGate;
+    double xLeave, yLeave, hLeave;
+    double xLeaveGate, yLeaveGate, hLeaveGate;
+
+    int ballCycles = 3;
+    int prevMotif = 0;
+    boolean gateCycle = true;
+    boolean withPartner = true;
+    double obeliskTurrPos1 = 0.0;
+    double obeliskTurrPos2 = 0.0;
+    double obeliskTurrPos3 = 0.0;
+    double waitToPickupGate = 0;
+    double obeliskTurrPosAutoStart = 0;
+
+    // initialize path variables here
+    TrajectoryActionBuilder shoot0 = null;
+    TrajectoryActionBuilder pickup1 = null;
+    TrajectoryActionBuilder shoot1 = null;
+    TrajectoryActionBuilder pickup2 = null;
+    TrajectoryActionBuilder shoot2 = null;
+    TrajectoryActionBuilder pickup3 = null;
+    TrajectoryActionBuilder shoot3 = null;
+    TrajectoryActionBuilder shoot0ToPickup2 = null;
+    TrajectoryActionBuilder gateCyclePickup = null;
+    TrajectoryActionBuilder gateCycleShoot = null;
+
+    @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);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        servos.setSpinPos(spindexer_intakePos1);
+
+        servos.setTransferPos(transferServo_out);
+        limelightUsed = false;
+
+        robot.light.setPosition(1);
+
+        hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
+
+        while (opModeInInit()) {
+            if (limelightUsed && !gateCycle){
+                Actions.runBlocking(
+                        autoActions.detectObelisk(
+                                0.1,
+                                0.501,
+                                0.501,
+                                0.501,
+                                0.501,
+                                obeliskTurrPosAutoStart
+                        )
+                );
+                motif = turret.getObeliskID();
+
+                if (motif == 21){
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall1;
+                } else if (motif == 22){
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall3b;
+                } else {
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall2;
+                }
+            }
+
+            if (!gateCycle) {
+                turret.pipelineSwitch(1);
+            } else if (redAlliance) {
+                turret.pipelineSwitch(4);
+            } else {
+                turret.pipelineSwitch(2);
+            }
+
+            if (gateCycle) {
+                servos.setHoodPos(hoodGate0Start);
+            } else {
+                servos.setHoodPos(shoot0Hood);
+            }
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+            }
+
+            if (gamepad2.dpadLeftWasPressed()) {
+                turrDefault -= 0.01;
+            }
+
+            if (gamepad2.dpadRightWasPressed()) {
+                turrDefault += 0.01;
+            }
+
+            if (gamepad2.rightBumperWasPressed()) {
+                ballCycles++;
+            }
+            if (gamepad2.leftBumperWasPressed()) {
+                ballCycles--;
+            }
+
+            if (gamepad2.triangleWasPressed()){
+                gateCycle = !gateCycle;
+            }
+
+
+
+            if (gamepad2.squareWasPressed()) {
+
+                drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
+                robot.limelight.start();
+                limelightUsed = true;
+
+                gamepad2.rumble(500);
+            }
+
+            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;
+
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+                xLeave = rLeaveX;
+                yLeave = rLeaveY;
+                hLeave = rLeaveH;
+
+                xShoot0 = rShoot0X;
+                yShoot0 = rShoot0Y;
+                hShoot0 = rShoot0H;
+                xShootGate = rShootGateX;
+                yShootGate = rShootGateY;
+                hShootGate = rShootGateH;
+                xLeaveGate = rLeaveGateX;
+                yLeaveGate = rLeaveGateY;
+                hLeaveGate = rLeaveGateH;
+
+                pickupGateAX = rPickupGateAX;
+                pickupGateAY = rPickupGateAY;
+                pickupGateAH = rPickupGateAH;
+                pickupGateBX = rPickupGateBX;
+                pickupGateBY = rPickupGateBY;
+                pickupGateBH = rPickupGateBH;
+
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
+                obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
+                obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
+                obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
+            } 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;
+
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+                xLeave = bLeaveX;
+                yLeave = bLeaveY;
+                hLeave = bLeaveH;
+
+                xShoot0 = bShoot0X;
+                yShoot0 = bShoot0Y;
+                hShoot0 = bShoot0H;
+                xShootGate = bShootGateX;
+                yShootGate = bShootGateY;
+                hShootGate = bShootGateH;
+                xLeaveGate = bLeaveGateX;
+                yLeaveGate = bLeaveGateY;
+                hLeaveGate = bLeaveGateH;
+
+                pickupGateAX = bPickupGateAX;
+                pickupGateAY = bPickupGateAY;
+                pickupGateAH = bPickupGateAH;
+                pickupGateBX = bPickupGateBX;
+                pickupGateBY = bPickupGateBY;
+                pickupGateBH = bPickupGateBH;
+
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
+                obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
+                obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
+                obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
+            }
+
+            if (gateCycle) {
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
+            } else {
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
+            }
+
+            if (gateCycle) {
+                pickup2 = shoot0.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                        .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                                new TranslationalVelConstraint(pickupStackGateSpeed));
+            } else {
+                pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                        .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                        .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                                new TranslationalVelConstraint(pickup1Speed));
+            }
+
+            if (gateCycle&& withPartner) {
+                shoot2 = pickup2.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(openGateX, openGateY), Math.toRadians(openGateH))
+                        .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
+            } else if (gateCycle) {
+                shoot2 = pickup2.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
+            } else if (ballCycles < 3) {
+                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
+                        .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+            } else {
+                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
+                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+            }
+
+            gateCyclePickup = shoot2.endTrajectory().fresh()
+                    .strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
+                    .waitSeconds(waitToPickupGate)
+                    .strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH))
+                    .waitSeconds(0.1)
+                    .strafeToLinearHeading(new Vector2d(pickupGateCX, pickupGateCY), Math.toRadians(pickupGateCH),
+                            new TranslationalVelConstraint(13));
+
+            gateCycleShoot = gateCyclePickup.endTrajectory().fresh()
+                    .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
+
+
+            if (gateCycle) {
+                pickup1 = gateCycleShoot.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                        .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                                new TranslationalVelConstraint(pickupStackGateSpeed));
+            } else {
+                pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
+                        .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                        .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                                new TranslationalVelConstraint(pickup1Speed));
+            }
+
+
+            if (gateCycle) {
+                shoot1 = pickup1.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
+            } else if (ballCycles < 2) {
+                shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
+                        .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+            } else {
+                shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
+                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+            }
+
+            pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                    .strafeToLinearHeading(new Vector2d(x4a, y4a), Math.toRadians(h4a))
+                    .strafeToLinearHeading(new Vector2d(x4b, y4b), Math.toRadians(h4b),
+                            new TranslationalVelConstraint(pickup1Speed));
+
+            shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, Math.toRadians(h4b)))
+                    .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+
+            if (withPartner) {
+                waitToPickupGate = waitToPickupGateWithPartner;
+            } else {
+                waitToPickupGate = waitToPickupGateSolo;
+            }
+
+            teleStart = drive.localizer.getPose();
+            TELE.addData("Red?", redAlliance);
+            TELE.addData("Turret Default", turrDefault);
+            TELE.addData("Gate Cycle?", gateCycle);
+            TELE.addData("Ball Cycles", ballCycles);
+            TELE.addData("Limelight Started?", limelightUsed);
+            TELE.addData("Motif", motif);
+
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            double stamp = getRuntime();
+
+            robot.transfer.setPower(1);
+
+
+            if (gateCycle) {
+                startAutoGate();
+                shoot(0.501, 0.501, 0.501);
+                cycleStackMiddleGate();
+                shoot(0.501,0.501, 0.501);
+
+                while (getRuntime() - stamp < endGateTime) {
+                    cycleGateIntake();
+                    if (getRuntime() - stamp < lastShootTime) {
+                        cycleGateShoot();
+                        shoot(0.501, 0.501, 0.501);
+                    }
+                }
+                cycleStackCloseIntakeGate();
+
+                if (getRuntime() - stamp < lastShootTime) {
+                    cycleStackCloseShootGate();
+                }
+
+                shoot(0.501, 0.501, 0.501);
+
+            } else {
+
+
+
+                startAuto();
+                shoot(0.501, 0.501,0.501);
+
+                if (ballCycles > 0) {
+                    cycleStackClose();
+                    shoot(xShoot, yShoot, hShoot);
+                }
+
+                if (ballCycles > 1) {
+                    cycleStackMiddle();
+                    shoot(xShoot, yShoot, hShoot);
+                }
+
+                if (ballCycles > 2) {
+                    cycleStackFar();
+                    shoot(xLeave, yLeave, hLeave);
+                }
+            }
+
+            while (opModeIsActive()) {
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                flywheel.manageFlywheel(0);
+                robot.transfer.setPower(0);
+
+                TELE.addLine("finished");
+                TELE.update();
+            }
+
+        }
+
+    }
+
+    void shoot(double x, double y, double z) {
+        Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, x, y, z));
+    }
+
+    void startAuto() {
+        assert shoot0 != null;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot0.build(),
+                        autoActions.prepareShootAll(
+                                0.8,
+                                flywheel0Time,
+                                motif,
+                                x1,
+                                y1,
+                                h1
+                        )
+                )
+        );
+
+    }
+
+
+
+    void startAutoGate() {
+        assert shoot0 != null;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot0.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                flywheel0Time,
+                                motif,
+                                xShoot0,
+                                yShoot0,
+                                hShoot0
+                        )
+                )
+        );
+
+
+    }
+
+    void cycleStackClose() {
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup1.build(),
+                        autoActions.intake(
+                                intake1Time,
+                                x2b,
+                                y2b,
+                                h2b
+                        )
+                )
+        );
+
+        double posX;
+        double posY;
+        double posH;
+        if (ballCycles > 1) {
+            posX = xShoot;
+            posY = yShoot;
+            posH = hShoot;
+        } else {
+            posX = xLeave;
+            posY = yLeave;
+            posH = hLeave;
+        }
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot1.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot1Time,
+                                motif,
+                                posX,
+                                posY,
+                                posH
+                        )
+                )
+        );
+    }
+
+    void cycleStackMiddle() {
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup2.build(),
+                        autoActions.intake(
+                                intake2Time,
+                                x3b,
+                                y3b,
+                                h3b
+                        )
+                )
+        );
+
+        double posX;
+        double posY;
+        double posH;
+        if (ballCycles > 2) {
+            posX = xShoot;
+            posY = yShoot;
+            posH = hShoot;
+        } else {
+            posX = xLeave;
+            posY = yLeave;
+            posH = hLeave;
+        }
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot2.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot2Time,
+                                motif,
+                                posX,
+                                posY,
+                                posH)
+                )
+        );
+    }
+
+    void cycleStackFar() {
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup3.build(),
+                        autoActions.intake(
+                                intake3Time,
+                                x4b,
+                                y4b,
+                                h4b
+                        )
+                )
+        );
+
+        motif = turret.getObeliskID();
+
+        if (motif == 0) motif = prevMotif;
+        prevMotif = motif;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot3.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot3Time,
+                                motif,
+                                xLeave,
+                                yLeave,
+                                hLeave
+                        )
+                )
+        );
+    }
+
+    void cycleStackMiddleGate() {
+        drive.updatePoseEstimate();
+        pickup2 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                        new TranslationalVelConstraint(pickupStackGateSpeed));
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup2.build(),
+                        autoActions.intake(
+                                intake2TimeGate,
+                                x3b,
+                                y3b,
+                                h3b
+                        )
+                )
+        );
+
+        servos.setSpinPos(spinStartPos);
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot2.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot2Time,
+                                motif,
+                                xShootGate,
+                                yShootGate,
+                                pickupGateAH)
+                )
+        );
+    }
+
+    void cycleGateIntake() {
+        drive.updatePoseEstimate();
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        gateCyclePickup.build(),
+                        autoActions.intake(
+                                intakeGateTime,
+                                xShootGate,
+                                yShootGate,
+                                hShootGate
+                        )
+                )
+        );
+    }
+
+    void cycleGateShoot() {
+
+        drive.updatePoseEstimate();
+        servos.setSpinPos(spinStartPos);
+
+        gateCycleShoot = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        gateCycleShoot.build(),
+                        autoActions.manageShooterAuto(
+                                shootGateTime,
+                                xShootGate,
+                                yShootGate,
+                                pickupGateAH,
+                                false
+                        )
+                )
+        );
+    }
+
+    void cycleStackCloseIntakeGate() {
+        drive.updatePoseEstimate();
+
+        pickup1 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                        new TranslationalVelConstraint(pickupStackGateSpeed));
+
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup1.build(),
+                        autoActions.intake(
+                                intake1GateTime,
+                                xShootGate,
+                                yShootGate,
+                                hShootGate
+                        )
+                )
+        );
+    }
+
+    void cycleStackCloseShootGate(){
+        servos.setSpinPos(spinStartPos);
+        drive.updatePoseEstimate();
+
+        shoot1 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot1.build(),
+                        autoActions.manageShooterAuto(
+                                shoot1GateTime,
+                                xLeaveGate,
+                                yLeaveGate,
+                                hLeaveGate,
+                                false
+                        )
+                )
+        );
+    }
+}

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

@@ -0,0 +1,438 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Back_Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueTurretShootPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redTurretShootPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+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 org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+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;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class Auto_LT_Far extends LinearOpMode {
+    public static double shoot0Vel = 3300, shoot0Hood = 0.48;
+    double xLeave, yLeave, hLeave;
+    public int motif = 0;
+    double turretShootPos = 0.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+    double xShoot, yShoot, hShoot;
+    double pickupGateX = 0, pickupGateY = 0, pickupGateH = 0;
+    public static double flywheel0Time = 1.5;
+    boolean gatePickup = true;
+    boolean stack3 = true;
+    double xStackPickupA, yStackPickupA, hStackPickupA;
+    double xStackPickupB, yStackPickupB, hStackPickupB;
+    public static int pickupStackSpeed = 17;
+    public static int pickupGateSpeed = 25;
+    int prevMotif = 0;
+    public static double spindexerSpeedIncrease = 0.014;
+    public static double shootAllTime = 2;
+    // ---- POSITION TOLERANCES ----
+    public static double posXTolerance = 5.0;
+    public static double posYTolerance = 5.0;
+    public static double shootStackTime = 2;
+    public static double shootGateTime = 2.5;
+    public static double colorSenseTime = 1;
+    public static double intakeStackTime = 4.5;
+    public static double intakeGateTime = 8;
+    double obeliskTurrPos1 = 0.0;
+    double obeliskTurrPos2 = 0.0;
+    double obeliskTurrPos3 = 0.0;
+    public static double endAutoTime = 26;
+
+    // initialize path variables here
+    TrajectoryActionBuilder leave3Ball = null;
+    TrajectoryActionBuilder leaveFromShoot = null;
+    TrajectoryActionBuilder pickup3 = null;
+    TrajectoryActionBuilder shoot3 = null;
+    TrajectoryActionBuilder pickupGate = null;
+    TrajectoryActionBuilder shootGate = null;
+    Pose2d autoStart = new Pose2d(0,0,0);
+
+    @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);
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        robot.limelight.start();
+
+        robot.limelight.pipelineSwitch(1);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        turret.setTurret(turrDefault);
+
+        servos.setSpinPos(spinStartPos);
+
+        servos.setTransferPos(transferServo_out);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.leftBumperWasPressed()){
+                gatePickup = !gatePickup;
+            }
+            if (gamepad2.rightBumperWasPressed()){
+                stack3 = !stack3;
+            }
+
+            turret.setTurret(turretShootPos);
+
+            robot.hood.setPosition(shoot0Hood);
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+            }
+
+            if (gamepad2.dpadLeftWasPressed()) {
+                turrDefault -= 0.01;
+            }
+
+            if (gamepad2.dpadRightWasPressed()) {
+                turrDefault += 0.01;
+            }
+
+            if (redAlliance) {
+                robot.light.setPosition(0.28);
+
+                autoStart = new Pose2d(autoStartRX, autoStartRY, Math.toRadians(autoStartRH));
+                drive = new MecanumDrive(hardwareMap, autoStart);
+                autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+                xLeave = rLeaveX;
+                yLeave = rLeaveY;
+                hLeave = rLeaveH;
+
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+
+                xStackPickupA = rStackPickupAX;
+                yStackPickupA = rStackPickupAY;
+                hStackPickupA = rStackPickupAH;
+
+                xStackPickupB = rStackPickupBX;
+                yStackPickupB = rStackPickupBY;
+                hStackPickupB = rStackPickupBH;
+
+                pickupGateX = rPickupGateX;
+                pickupGateY = rPickupGateY;
+                pickupGateH = rPickupGateH;
+
+                obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
+                obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
+                obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
+                turretShootPos = turrDefault + redTurretShootPos;
+
+                if (gamepad2.squareWasPressed()){
+                    turret.pipelineSwitch(4);
+                    robot.limelight.start();
+                    drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
+
+                    gamepad2.rumble(500);
+                }
+            } else {
+                robot.light.setPosition(0.6);
+
+                autoStart = new Pose2d(autoStartBX, autoStartBY, Math.toRadians(autoStartBH));
+                drive = new MecanumDrive(hardwareMap, autoStart);
+                autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+                xLeave = bLeaveX;
+                yLeave = bLeaveY;
+                hLeave = bLeaveH;
+
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+
+                xStackPickupA = bStackPickupAX;
+                yStackPickupA = bStackPickupAY;
+                hStackPickupA = bStackPickupAH;
+
+                xStackPickupB = bStackPickupBX;
+                yStackPickupB = bStackPickupBY;
+                hStackPickupB = bStackPickupBH;
+
+                pickupGateX = bPickupGateX;
+                pickupGateY = bPickupGateY;
+                pickupGateH = bPickupGateH;
+
+                obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
+                obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
+                obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
+                turretShootPos = turrDefault + blueTurretShootPos;
+
+                if (gamepad2.squareWasPressed()){
+                    turret.pipelineSwitch(2);
+                    robot.limelight.start();
+                    drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
+
+                    gamepad2.rumble(500);
+                }
+            }
+
+            leave3Ball = drive.actionBuilder(autoStart)
+                    .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+
+            leaveFromShoot = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                    .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+
+            pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                    .strafeToLinearHeading(new Vector2d(xStackPickupA, yStackPickupA), Math.toRadians(hStackPickupA))
+                    .strafeToLinearHeading(new Vector2d(xStackPickupB, yStackPickupB), Math.toRadians(hStackPickupB),
+                            new TranslationalVelConstraint(pickupStackSpeed));
+
+            shoot3 = drive.actionBuilder(new Pose2d(xStackPickupB, yStackPickupB, Math.toRadians(hStackPickupB)))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+
+            pickupGate = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                    .strafeToLinearHeading(new Vector2d(pickupGateX, pickupGateY), Math.toRadians(pickupGateH))
+                    .waitSeconds(0.2)
+                    .strafeToLinearHeading(new Vector2d(pickupGateXB, pickupGateYB), Math.toRadians(pickupGateHB))
+                    .strafeToLinearHeading(new Vector2d(pickupGateXC, pickupGateYC), Math.toRadians(pickupGateHC),
+                            new TranslationalVelConstraint(pickupGateSpeed));
+
+            shootGate = drive.actionBuilder(new Pose2d(pickupGateX, pickupGateY, Math.toRadians(pickupGateH)))
+                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+
+            limelightUsed = true;
+
+            TELE.addData("Red?", redAlliance);
+            TELE.addData("Turret Default", turrDefault);
+            TELE.addData("Gate Cycle?", gatePickup);
+            TELE.addData("Pickup Stack?", stack3);
+            TELE.addData("Start Position", autoStart);
+            TELE.addData("Current Position", drive.localizer.getPose()); // use this to test standstill drift
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        // Currently only shoots; keep this start and modify times and then add extra paths
+        if (opModeIsActive()) {
+            double stamp = getRuntime();
+
+            robot.transfer.setPower(1);
+
+            startAuto();
+            shoot();
+
+            if (stack3){
+                cycleStackFar();
+                shoot();
+            }
+
+            while (gatePickup && getRuntime() - stamp < endAutoTime){
+                cycleGatePickupBalls();
+                if (getRuntime() - stamp > endAutoTime){
+                    break;
+                }
+                cycleGatePrepareShoot();
+                if (getRuntime() - stamp > endAutoTime + shootAllTime + 1){
+                    break;
+                }
+                shoot();
+            }
+
+            if (gatePickup || stack3){
+                leave();
+            } else {
+                leave3Ball();
+            }
+
+            // Actual way to end autonomous in to find final position
+            while (opModeIsActive()) {
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                flywheel.manageFlywheel(0);
+                robot.transfer.setPower(0);
+
+                TELE.addLine("finished");
+                TELE.update();
+            }
+
+        }
+
+    }
+
+    void shoot(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, 0.501, 0.501, 0.501)
+                )
+
+        );
+    }
+
+    void startAuto(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        autoActions.manageShooterAuto(
+                                flywheel0Time,
+                                0.501,
+                                0.501,
+                                0.501,
+                                true
+                        )
+
+                )
+        );
+    }
+
+    void leave3Ball(){
+        assert leave3Ball != null;
+        Actions.runBlocking(leave3Ball.build());
+    }
+
+    void leave(){
+        assert leaveFromShoot != null;
+        Actions.runBlocking(leaveFromShoot.build());
+    }
+
+    void cycleStackFar(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup3.build(),
+                        autoActions.intake(
+                                intakeStackTime,
+                                xStackPickupB,
+                                yStackPickupB,
+                                hStackPickupB
+                        ),
+                        autoActions.detectObelisk(
+                                intakeStackTime,
+                                xStackPickupB,
+                                yStackPickupB,
+                                posXTolerance,
+                                posYTolerance,
+                                obeliskTurrPos3
+                        )
+
+                )
+        );
+
+        motif = turret.getObeliskID();
+
+        if (motif == 0) motif = 22;
+        prevMotif = motif;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot3.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shootStackTime,
+                                motif,
+                                xShoot,
+                                yShoot,
+                                hShoot)
+                )
+        );
+    }
+
+    void cycleGatePickupBalls(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickupGate.build(),
+                        autoActions.intake(
+                                intakeStackTime,
+                                pickupGateX,
+                                pickupGateY,
+                                pickupGateH
+                        ),
+                        autoActions.detectObelisk(
+                                intakeGateTime,
+                                pickupGateX,
+                                pickupGateY,
+                                posXTolerance,
+                                posYTolerance,
+                                obeliskTurrPos3
+                        )
+                )
+        );
+
+        motif = turret.getObeliskID();
+
+        if (motif == 0) motif = prevMotif;
+        prevMotif = motif;
+    }
+
+    void cycleGatePrepareShoot(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        shootGate.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shootGateTime,
+                                motif,
+                                xShoot,
+                                yShoot,
+                                hShoot
+                        )
+                )
+        );
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/AutoActions.java

@@ -0,0 +1,677 @@
+package org.firstinspires.ftc.teamcode.autonomous.actions;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+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.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
+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.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+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.Objects;
+
+@Config
+public class AutoActions {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servos;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    Light light;
+    Turret turret;
+    private int driverSlotGreen = 0;
+    private int passengerSlotGreen = 0;
+    private int rearSlotGreen = 0;
+    private int mostGreenSlot = 0;
+    public static double firstSpindexShootPos = spinStartPos;
+    private boolean shootForward = true;
+    public int motif = 0;
+    double spinEndPos = ServoPositions.spinEndPos;
+
+    public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
+        this.robot = rob;
+        this.drive = dri;
+        this.TELE = tel;
+        this.servos = ser;
+        this.flywheel = fly;
+        this.spindexer = spi;
+        this.targeting = tar;
+        this.targetingSettings = tS;
+        this.turret = tur;
+        this.light = lig;
+    }
+
+    public Action prepareShootAll(
+            double colorSenseTime,
+            double time,
+            int motif_id,
+            double posX,
+            double posY,
+            double posH
+    ) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            double spindexerWiggle = 0.01;
+
+            boolean decideGreenSlot = false;
+
+            void spin1PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall1;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void reverseSpin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void oddSpin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3b;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                    driverSlotGreen = 0;
+                    passengerSlotGreen = 0;
+                    rearSlotGreen = 0;
+                }
+                ticker++;
+                servos.setTransferPos(transferServo_out);
+                drive.updatePoseEstimate();
+
+                light.setState(StateEnums.LightState.GOAL_LOCK);
+
+                teleStart = drive.localizer.getPose();
+
+                manageShooter.run(telemetryPacket);
+
+                TELE.addData("Most Green Slot", mostGreenSlot);
+                TELE.addData("Driver Slot Greeness", driverSlotGreen);
+                TELE.addData("Passenger Slot Greeness", passengerSlotGreen);
+                TELE.addData("Rear Greeness", rearSlotGreen);
+                TELE.update();
+
+                if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
+
+                    spindexerWiggle *= -1.0;
+
+                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
+
+
+// Rear Center (Position 1)
+                    double distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+                    if (distanceRearCenter < 52) {
+                        NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+                        double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+                        if (gP1 >= 0.38) {
+                            rearSlotGreen++;
+                        }
+                    }
+
+// Front Driver (Position 2)
+                    double distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+                    if (distanceFrontDriver < 50) {
+                        NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
+                        double gP2 = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
+                        if (gP2 >= 0.4) {
+                            driverSlotGreen++;
+                        }
+                    }
+
+// Front Passenger (Position 3)
+                    double distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+                    if (distanceFrontPassenger < 29) {
+                        NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
+                        double gP3 = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
+                        if (gP3 >= 0.4) {
+                            passengerSlotGreen++;
+                        }
+                    }
+
+                    spindexer.setIntakePower(-0.1);
+
+                    decideGreenSlot = true;
+
+                    return true;
+                } else if (decideGreenSlot) {
+
+                    if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
+                        mostGreenSlot = 3;
+                    } else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
+                        mostGreenSlot = 2;
+                    } else {
+                        mostGreenSlot = 1;
+                    }
+
+                    decideGreenSlot = false;
+
+                    if (motif_id == 21) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                            spinEndPos = 0.05;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        }
+                    } else if (motif_id == 22) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = false;
+                            spinEndPos = 0.03;
+                        }
+
+                    } else {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                            spinEndPos = 0.05;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;                        }
+                    }
+
+                    return true;
+                } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
+
+                    servos.setSpinPos(firstSpindexShootPos);
+
+                    return true;
+                } else {
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    public Action shootAllAuto(double shootTime, double spindexSpeed, double posX, double posY, double posH) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = servos.getSpinPos() > spinEndPos;
+                } else {
+                    end = servos.getSpinPos() < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
+
+                    if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
+                        servos.setSpinPos(firstSpindexShootPos);
+                    } else {
+                        servos.setTransferPos(transferServo_in);
+                        shooterTicker++;
+                        Spindexer.whileShooting = true;
+                        if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                            servos.setSpinPos(prevSpinPos + spindexSpeed);
+                        } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                            servos.setSpinPos(prevSpinPos - spindexSpeed);
+                        }
+
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action shootAllManual(
+            double shootTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double spindexSpeed,
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = prevSpinPos > spinEndPos;
+                } else {
+                    end = prevSpinPos < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
+                    servos.setTransferPos(transferServo_in);
+                    shooterTicker++;
+                    Spindexer.whileShooting = true;
+                    if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
+                    } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action intake(
+            double time,
+            double posX,
+            double posY,
+            double posH
+    ) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                spindexer.setIntakePower(1);
+                light.setState(StateEnums.LightState.BALL_COUNT);
+                light.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                manageShooter.run(telemetryPacket);
+
+                if ((System.currentTimeMillis() - stamp) > (time * 1000)) {
+                    servos.setSpinPos(spindexer_intakePos1);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    private boolean detectingObelisk = false;
+
+    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;
+            int prevMotif = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                detectingObelisk = true;
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    turret.pipelineSwitch(1);
+                    ticker++;
+                }
+
+                motif = turret.detectObelisk();
+
+                if (prevMotif == motif){
+                    ticker++;
+                }
+                prevMotif = motif;
+
+                turret.setTurret(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) || spindexer.isFull() || ticker > 10;
+
+                teleStart = currentPose;
+
+                if (shouldFinish) {
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                    } else {
+                        turret.pipelineSwitch(2);
+                    }
+                    detectingObelisk = false;
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action manageShooterAuto(
+            double time,
+            double posX,
+            double posY,
+            double posH,
+            boolean flywheelSensor
+    ) {
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            final boolean timeFallback = (time != 0.501);
+
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                        light.setManualLightColor(Color.LightRed);
+                    } else {
+                        turret.pipelineSwitch(2);
+                        light.setManualLightColor(Color.LightBlue);
+
+                    }
+                }
+
+                ticker++;
+
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;
+
+                double robotHeading = currentPose.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;
+                if (posX != 0.501) {
+                    deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
+                } else {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                }
+                Turret.limelightUsed = true;
+
+//                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                if (!detectingObelisk) {
+                    turret.trackGoal(deltaPose);
+                }
+
+                servos.setHoodPos(targetingSettings.hoodAngle);
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
+
+                teleStart = currentPose;
+
+                TELE.addData("Steady?", flywheel.getSteady());
+                TELE.update();
+
+                return !shouldFinish;
+            }
+        };
+    }
+
+    public Action Wait(double time) {
+        return new Action() {
+            boolean ticker = false;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (!ticker) {
+                    stamp = System.currentTimeMillis();
+                    ticker = true;
+                }
+
+                return (System.currentTimeMillis() - stamp < time * 1000);
+
+            }
+        };
+    }
+
+    public Action manageShooterManual(
+            double maxTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr
+    ) {
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            final boolean timeFallback = (maxTime != 0.501);
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;
+
+                double robotHeading = currentPose.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;
+                if (turr == 0.501) {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                    if (!detectingObelisk) {
+                        turret.trackGoal(deltaPose);
+                    }
+                } else {
+                    turret.setTurret(turr);
+                }
+
+                servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
+                double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
+
+                teleStart = currentPose;
+
+                TELE.addData("Steady?", flywheel.getSteady());
+                TELE.update();
+
+                return !timeDone;
+            }
+        };
+    }
+}
+
+

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/Auto_LT_Close_12Ball.java

@@ -0,0 +1,919 @@
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_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.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.setTurret(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();
+
+                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();
+
+                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.setTurret(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/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.Front_Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_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/Back_Poses.java

@@ -0,0 +1,29 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class Back_Poses {
+    public static double rLeaveX = 90, rLeaveY = 50, rLeaveH = 50.1;
+    public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50;
+
+    public static double rShootX = 100, rShootY = 55, rShootH = 90;
+    public static double bShootX = 100, bShootY = -55, bShootH = -90;
+
+    public static double rStackPickupAX = 73, rStackPickupAY = 51, rStackPickupAH = 140;
+    public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;
+
+    public static double rStackPickupBX = 53, rStackPickupBY = 71, rStackPickupBH = 140.1;
+    public static double bStackPickupBX = 55, bStackPickupBY = -73, bStackPickupBH = -140.1;
+
+    public static double rPickupGateX = 50, rPickupGateY = 83, rPickupGateH = 140;
+    public static double bPickupGateX = 70, bPickupGateY = -90, bPickupGateH = -140;
+    public static double pickupGateXB = 84, pickupGateYB = 76, pickupGateHB = 140;
+    public static double pickupGateXC = 50, pickupGateYC = 83, pickupGateHC = 190;
+
+
+
+    public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 50;
+    public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -50;
+
+}

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

@@ -0,0 +1,16 @@
+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 LightGreen = 0.5;
+    public static double LightPurple = 0.715;
+    public static double LightOrange = 0.33;
+    public static double LightRed = 0.28;
+    public static double LightBlue = 0.6;
+
+    public static double colorFilterAlpha = 1;
+}

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

@@ -0,0 +1,62 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Front_Poses {
+
+
+    public static double rx1 = 20, ry1 = 0.5, rh1 = 0.1;
+    public static double bx1 = 20, by1 = -0.5, bh1 = -0.1;
+
+    public static double rx2a = 41, ry2a = 18, rh2a = 140;
+    public static double bx2a = 41, by2a = -18, bh2a = -140;
+
+    public static double rx2b = 21, ry2b = 34, rh2b = 140.1;
+    public static double bx2b = 23, by2b = -36, bh2b = -140.1;
+
+    public static double rx3a = 55, ry3a = 39, rh3a = 140;
+    public static double bx3a = 55, by3a = -39, bh3a = -140;
+
+    public static double rx3aG = 60, ry3aG = 34, rh3aG = 140;
+    public static double bx3aG = 60, by3aG = -34, bh3aG = -140;
+
+    public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
+    public static double bx3b = 36, by3b = -58, bh3b = -140.1;
+
+    public static double rx4a = 75, ry4a = 53, rh4a = 140;
+    public static double bx4a = 75, by4a = -53, bh4a = -140;
+
+    public static double rx4b = 50, ry4b = 78, rh4b = 140.1;
+    public static double bx4b = 50, by4b = -78, bh4b = -140.1;
+
+    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0;
+
+    public static double rShootX = 40, rShootY = 10, rShootH = 50;
+    public static double bShootX = 40, bShootY = -10, bShootH = -50;
+
+    public static double rxPrep = 45, ryPrep = 10, rhPrep = 50;
+    public static double bxPrep = 45, byPrep = -10, bhPrep = -50;
+
+    public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 55;
+    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -55;
+
+    public static double rShoot0X = 53, rShoot0Y = 10.1, rShoot0H = 80.1;
+    public static double bShoot0X = 53, bShoot0Y = -10.1, bShoot0H = -80.1;
+
+    public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
+    public static double bShootGateX = 50, bShootGateY = -10, bShootGateH = -90;
+
+    public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
+    public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
+
+    public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
+    public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
+
+    public static double rPickupGateBX = 38, rPickupGateBY = 62, rPickupGateBH = 210;
+    public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
+    public static double pickupGateCX = 34, pickupGateCY = 58, pickupGateCH = 220;
+
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
+}

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

@@ -0,0 +1,21 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+
+@Disabled
+@Config
+public class Poses_V2 {
+
+    public static double rXGateA = 35.5, rYGateA = 46.5, rHGateA = 2.7;
+
+    public static double rXGateB = 56, rYGateB = 37, rHGateB = 2.7750735106709836;
+
+    public static double rXGate = 28, rYGate = 65, rHGate = Math.toRadians(179);
+
+    public static double bXGateA = 35.5, bYGateA = -46.5, bHGateA = -2.7;
+    public static double bXGateB = 56, bYGateB = -37, bHGateB = -2.7750735106709836;
+
+    public static double bXGate = 28, bYGate = -65, bHGate = Math.toRadians(-179);
+
+}

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

@@ -0,0 +1,47 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ServoPositions {
+
+    public static double spindexer_intakePos1 = 0.18; //0.13;
+
+    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
+
+    public static double spindexer_intakePos3 = 0.56; //0.53;//0.66;
+
+    public static double spindexer_outtakeBall3 = 0.84; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.27; //0.65; //0.24;
+
+    public static double spindexer_outtakeBall2 = 0.66; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.47; //0.27; //0.4;
+    public static double spinStartPos = 0.10;
+    public static double spinEndPos = 0.95;
+
+    public static double shootAllSpindexerSpeedIncrease = 0.014;
+
+    public static double transferServo_out = 0.15;
+
+    public static double transferServo_in = 0.38;
+
+    public static double hoodAuto = 0.27;
+
+    public static double hoodOffset = -0.04; // offset from 0.93
+
+    public static double turret_redClose = 0;
+    public static double turret_blueClose = 0;
+
+    // These values are ADDED to turrDefault
+    public static double redObeliskTurrPos0 = -0.35;
+    public static double redObeliskTurrPos1 = 0.15;
+    public static double redObeliskTurrPos2 = 0.16;
+    public static double redObeliskTurrPos3 = 0.17;
+    public static double blueObeliskTurrPos0 = 0.35;
+    public static double blueObeliskTurrPos1 = -0.15;
+    public static double blueObeliskTurrPos2 = -0.16;
+    public static double blueObeliskTurrPos3 = -0.17;
+    public static double redTurretShootPos = 0.05;
+    public static double blueTurretShootPos = -0.05;
+
+}

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

@@ -0,0 +1,13 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+
+@Disabled
+@Config
+public class ShooterVars {
+
+    // VELOCITY CONSTANTS
+    public static int AUTO_CLOSE_VEL = 3175; //3300;
+
+}

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

@@ -0,0 +1,19 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+public class StateEnums {
+    public enum Motif {
+        NONE,
+        GPP,  // Green, Purple, Purple
+        PGP,  // Purple, Green, Purple
+        PPG   // Purple, Purple, Green
+    }
+
+    public enum LightState {
+        BALL_COUNT,
+        BALL_COLOR,
+        GOAL_LOCK,
+        MANUAL,
+        DISABLED,
+        OFF
+    }
+}

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

@@ -1,12 +1,13 @@
 package org.firstinspires.ftc.teamcode.libs.RR;
 
-
 import androidx.annotation.NonNull;
 
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.*;
+import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -15,12 +16,20 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.ProfileParams;
+import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
+import com.acmerobotics.roadrunner.Twist2d;
+import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -35,6 +44,7 @@ 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;
@@ -46,56 +56,15 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
 
-import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 
 @Config
 public final class MecanumDrive {
-    public static class Params {
-        // IMU orientation
-        // TODO: fill in these values based on
-        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-                RevHubOrientationOnRobot.LogoFacingDirection.UP;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        // drive model parameters
-        public double inPerTick = 1;
-        public double lateralInPerTick = inPerTick;
-        public double trackWidthTicks = 0;
-
-        // feedforward parameters (in tick units)
-        public double kS = 0;
-        public double kV = 0;
-        public double kA = 0;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 50;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 50;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
-        public double maxAngAccel = Math.PI;
-
-        // path controller gains
-        public double axialGain = 0.0;
-        public double lateralGain = 0.0;
-        public double headingGain = 0.0; // shared with turn
-
-        public double axialVelGain = 0.0;
-        public double lateralVelGain = 0.0;
-        public double headingVelGain = 0.0; // shared with turn
-    }
-
     public static Params PARAMS = new Params();
-
     public final MecanumKinematics kinematics = new MecanumKinematics(
             PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-
     public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
             PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
     public final VelConstraint defaultVelConstraint =
@@ -105,20 +74,150 @@ public final class MecanumDrive {
             ));
     public final AccelConstraint defaultAccelConstraint =
             new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
     public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-
     public final VoltageSensor voltageSensor;
-
     public final LazyImu lazyImu;
-
     public final Localizer localizer;
     private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
     private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
     private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
     private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
     private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // 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, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        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
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+
+    public static class Params {
+        // IMU orientation
+        // TODO: fill in these values based on
+        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
+        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
+                RevHubOrientationOnRobot.LogoFacingDirection.RIGHT;
+        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
+                RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD;
+
+        // drive model parameters
+        public double inPerTick = 0.001978956;
+        public double lateralInPerTick = 0.001367789463080072;
+        public double trackWidthTicks = 6913.070212622687;
+
+        // feedforward parameters (in tick units)
+        public double kS = 1.23;
+        public double kV = 0.00035;
+        public double kA = 0.00008;
+
+        // path profile parameters (in inches)
+        public double maxWheelVel = 70;
+        public double minProfileAccel = -40;
+        public double maxProfileAccel = 70;
+
+        // turn profile parameters (in radians)
+        public double maxAngVel = 2 *Math.PI; // shared with path
+        public double maxAngAccel = 2 * Math.PI;
+
+        // path controller gains
+        public double axialGain = 6.0;
+        public double lateralGain = 6.0;
+        public double headingGain = 6.0; // shared with turn
+
+        public double axialVelGain = 0.0;
+        public double lateralVelGain = 0.0;
+        public double headingVelGain = 0.0; // shared with turn
+    }
 
     public class DriveLocalizer implements Localizer {
         public final Encoder leftFront, leftBack, rightBack, rightFront;
@@ -144,13 +243,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
+        public Pose2d getPose() {
+            return pose;
         }
 
         @Override
-        public Pose2d getPose() {
-            return pose;
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
         }
 
         @Override
@@ -212,65 +311,14 @@ public final class MecanumDrive {
                     headingDelta
             ));
 
-
             return twist.velocity().value();
         }
     }
 
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your HardwareConfig 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");
-        leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
-        rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
-        rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your HardwareConfig 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
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new DriveLocalizer(pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
         private final double[] xPoints, yPoints;
+        private double beginTs = -1;
 
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
@@ -297,7 +345,16 @@ public final class MecanumDrive {
                 t = Actions.now() - beginTs;
             }
 
-            if (t >= timeTrajectory.duration) {
+            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
+
+            if ((t >= timeTrajectory.duration && error.position.norm() < 1
+                    && robotVelRobot.linearVel.norm() < 0.5)
+                    || t >= timeTrajectory.duration + 0.01) {
                 leftFront.setPower(0);
                 leftBack.setPower(0);
                 rightBack.setPower(0);
@@ -306,10 +363,6 @@ public final class MecanumDrive {
                 return false;
             }
 
-            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
 
             PoseVelocity2dDual<Time> command = new HolonomicController(
                     PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
@@ -340,7 +393,6 @@ public final class MecanumDrive {
             p.put("y", localizer.getPose().position.y);
             p.put("heading (deg)", Math.toDegrees(localizer.getPose().heading.toDouble()));
 
-            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
             p.put("xError", error.position.x);
             p.put("yError", error.position.y);
             p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
@@ -448,51 +500,4 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        PoseVelocity2d vel = localizer.update();
-        poseHistory.add(localizer.getPose());
-        
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-        
-        
-        return vel;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
 }

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

@@ -28,7 +28,7 @@ public class OTOSLocalizer implements Localizer {
     private Pose2d currentPose;
 
     public OTOSLocalizer(HardwareMap hardwareMap, Pose2d initialPose) {
-        // TODO: make sure your HardwareConfig has an OTOS device with this name
+        // TODO: make sure your config has an OTOS device with this name
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
         currentPose = initialPose;

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

@@ -16,10 +16,11 @@ 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 perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
+        public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
+        public double perpXTicks = -2088.4296466563774; // x position of the perpendicular encoder (in tick units)
     }
 
+
     public static Params PARAMS = new Params();
 
     public final GoBildaPinpointDriver driver;
@@ -29,7 +30,7 @@ public final class PinpointLocalizer implements Localizer {
     private Pose2d txPinpointRobot = new Pose2d(0, 0, 0);
 
     public PinpointLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
-        // TODO: make sure your HardwareConfig has a Pinpoint device with this name
+        // TODO: make sure your config has a Pinpoint device with this name
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         driver = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
 
@@ -38,7 +39,7 @@ 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);
@@ -48,6 +49,8 @@ public final class PinpointLocalizer implements Localizer {
         txWorldPinpoint = initialPose;
     }
 
+
+
     @Override
     public void setPose(Pose2d pose) {
         txWorldPinpoint = pose.times(txPinpointRobot.inverse());

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

@@ -232,7 +232,7 @@ public final class TankDrive {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
         }
 
-        // TODO: make sure your HardwareConfig has motors with these names (or change them)
+        // TODO: make sure your config has motors with these names (or change them)
         //   add additional motors on each side if you have them
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
@@ -248,7 +248,7 @@ public final class TankDrive {
         // TODO: reverse motor directions if needed
         //   leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
 
-        // TODO: make sure your HardwareConfig has an IMU with this name (can be BNO or BHI)
+        // 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
         lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
                 PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));

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

@@ -37,7 +37,7 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
     private Pose2d pose;
 
     public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick, Pose2d initialPose) {
-        // TODO: make sure your HardwareConfig has **motors** with these names (or change them)
+        // TODO: make sure your config has **motors** with these names (or change them)
         //   the encoders should be plugged into the slot matching the named motor
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));

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

@@ -46,7 +46,7 @@ public final class TwoDeadWheelLocalizer implements Localizer {
     private Pose2d pose;
 
     public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick, Pose2d initialPose) {
-        // TODO: make sure your HardwareConfig has **motors** with these names (or change them)
+        // TODO: make sure your config has **motors** with these names (or change them)
         //   the encoders should be plugged into the slot matching the named motor
         //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
         par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));

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).
-2. Navigate to the folder where you want to keep the project.
-3. Run:
+## Creating your own OpModes
 
-   ```bash
-   git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
-   cd DecodeFTCMain
-   ```
+The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
 
-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
-   git remote -v
-   ```
+Expand the following tree elements:
+FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
 
-   You should see:
-   ```
-   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)
-   ```
+### Naming of Samples
 
----
+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.
-- Nobody should ever code directly on `master`.
-- To stay up to date:
+To summarize: A range of different samples classes will reside in the java/external/samples.
+The class names will follow a naming convention which indicates the purpose of each class.
+The prefix of the name will be one of the following:
 
-   ```bash
-   git checkout master
-   git fetch upstream
-   git merge upstream/master
-   git push origin master
-   ```
+Basic:    This is a minimally functional OpMode used to illustrate the skeleton/structure
+of a particular style of OpMode. These are bare bones examples.
 
----
+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).
-2. Create a new branch from `master`:
+After the prefix, other conventions will apply:
 
-   ```bash
-   git checkout master
-   git pull origin master
-   git checkout -b feature/short-description
-   ```
+* Sensor class names are constructed as:    Sensor - Company - Type
+* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
+* Concept class names are constructed as:   Concept - Topic - OpModetype
 
-### 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:
-- `feature/` → new functionality
-- `fix/` → bug fixes
-- `experiment/` → prototypes or tests
-- `docs/` → documentation updates
-- `chore/` → maintenance or cleanup
+The name that will appear on the driver station's "opmode list" is defined by the code:
+``name="Template: Linear OpMode"``
+You can change what appears between the quotes to better describe your opmode.
+The "group=" portion of the code can be used to help organize your list of OpModes.
 
-Examples:
-- `feature/autonomous-path`
-- `fix/motor-init`
-- `experiment/vision-test`
-- `docs/setup-instructions`
-- `chore/gradle-update`
+As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
+``@Disabled`` annotation which has been included.
+This line can simply be deleted , or commented out, to make the OpMode visible.
 
-**Rules for names:**
-- Use lowercase letters and hyphens (`-`) only.
-- Keep it short but clear (3–5 words).
-- One branch = one task. Never mix unrelated work.
+## ADVANCED Multi-Team App management:  Cloning the TeamCode Module
 
----
+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.
-- Stage and commit your changes:
+Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
+prior to clicking to the green Run arrow.
 
-   ```bash
-   git add .
-   git commit -m "short message about what changed"
-   ```
+Warning:  This is not for the inexperienced Software developer.
+You will need to be comfortable with File manipulations and managing Android Studio Modules.
+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
-   git push origin feature/short-description
-   ```
+To clone TeamCode, do the following:
 
----
+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:
-    1. Open a Pull Request (PR) on GitHub to merge into `master`.
-    2. At least one teammate should review before merging.
+2) In the new Team0417 folder, delete the TeamCode.iml file.
 
----
+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:**
-- Always branch from `master`.
-- Follow the naming standard exactly.
-- Keep branches small and focused.
-- Delete branches after they’re merged.
+5) Add:    include ':Team0417' to the "/settings.gradle" file.
 
-**Don’t:**
-- 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
-```
+6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""

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

@@ -0,0 +1,384 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+
+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.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
+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.Light;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+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 static double hoodSpeedOffset = 0.01;
+    public static double turretSpeedOffset = 0.01;
+    public double vel = 3000;
+    public boolean autoVel = true;
+    public boolean targetingHood = true;
+//    public boolean autoHood = true;
+    public double shootStamp = 0.0;
+//    boolean fixedTurret = false;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Light light;
+    Servos servo;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    Drivetrain drivetrain;
+    MeasuringLoopTimes loopTimes;
+    double autoHoodOffset = 0.0;
+    int shooterTicker = 0;
+    boolean intake = false;
+    boolean reject = false;
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+    double hOffset = 0.0;
+//    double headingOffset = 0.0;
+    int ticker = 0;
+
+//    boolean autoSpintake = false;
+    boolean enableSpindexerManager = true;
+
+//    boolean overrideTurr = false;
+
+    int intakeTicker = 0;
+    private boolean shootAll = false;
+    boolean relocalize = 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);
+
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+
+        PIDFController tController = new PIDFController(tp, ti, td, tf);
+
+        tController.setTolerance(0.001);
+
+        Turret turret = new Turret(robot, TELE, robot.limelight);
+
+        light = Light.getInstance();
+        light.init(robot.light, spindexer, turret);
+
+        light.setState(StateEnums.LightState.MANUAL);
+        limelightUsed = true;
+
+        while (opModeInInit()) {
+            robot.limelight.start();
+            if (redAlliance) {
+                turret.pipelineSwitch(4);
+                light.setManualLightColor(Color.LightRed);
+            } else {
+                turret.pipelineSwitch(2);
+                light.setManualLightColor(Color.LightBlue);
+
+            }
+            robot.light.setPosition(1);
+
+            light.update();
+        }
+
+        limelightUsed = true;
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        servo.setTransferPos(transferServo_out);
+        robot.transfer.setPower(1);
+
+        while (opModeIsActive()) {
+
+            //TELE.addData("Is limelight on?", robot.limelight.getStatus());
+
+            //DRIVETRAIN:
+
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x,
+                    gamepad1.left_trigger
+            );
+
+            if (gamepad1.right_bumper) {
+
+                shootAll = false;
+                servo.setTransferPos(transferServo_out);
+
+                light.setState(StateEnums.LightState.BALL_COUNT);
+
+            } else if (gamepad2.triangle){
+                light.setState(StateEnums.LightState.BALL_COLOR);
+
+            }  else {
+                light.setState(StateEnums.LightState.GOAL_LOCK);
+            }
+
+            //TURRET TRACKING
+
+            double robX = drive.localizer.getPose().position.x;
+            double robY = drive.localizer.getPose().position.y;
+            double robH = drive.localizer.getPose().heading.toDouble();
+
+            double robotX = robX + xOffset;
+            double robotY = robY + yOffset;
+            double robotHeading = robH + hOffset;
+
+            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);
+
+            //RELOCALIZATION
+
+            if (gamepad2.squareWasPressed()){
+                relocalize = !relocalize;
+                gamepad2.rumble(500);
+            }
+
+            if (relocalize){
+                turret.relocalize();
+                xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
+                yOffset = (turret.getLimelightX() * 39.3701) - robY;
+                hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
+            } else {
+                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:
+            double voltage = robot.voltage.getVoltage();
+            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+            flywheel.manageFlywheel(vel);
+
+            //HOOD:
+
+            if (targetingHood) {
+                servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
+            } else {
+                servo.setHoodPos(hoodDefaultPos);
+            }
+
+            if (gamepad2.dpadUpWasPressed()) {
+                autoHoodOffset -= hoodSpeedOffset;
+                gamepad2.rumble(80);
+
+            } else if (gamepad2.dpadDownWasPressed()) {
+                autoHoodOffset += hoodSpeedOffset;
+                gamepad2.rumble(80);
+            }
+
+            if (gamepad2.dpadLeftWasPressed()) {
+                Turret.manualOffset -= turretSpeedOffset;
+                gamepad2.rumble(80);
+            } else if (gamepad2.dpadRightWasPressed()) {
+                Turret.manualOffset += turretSpeedOffset;
+                gamepad2.rumble(80);
+            }
+
+            if (gamepad2.rightBumperWasPressed()) {
+                limelightUsed = true;
+                gamepad2.rumble(80);
+            } else if (gamepad2.leftBumperWasPressed()) {
+                limelightUsed = false;
+                gamepad2.rumble(80);
+            }
+
+            if (gamepad2.crossWasPressed()) {
+                drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+            }
+
+
+
+            if (enableSpindexerManager) {
+                //if (!shootAll) {
+                spindexer.processIntake();
+                //}
+
+                // RIGHT_BUMPER
+                if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
+                    spindexer.setIntakePower(1);
+                } else if (gamepad1.cross) {
+                    spindexer.setIntakePower(-1);
+                } else {
+                    spindexer.setIntakePower(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) {
+//                        //servo.setTransferPos(transferServo_in);
+//                        spindexer.shootAll();
+//                        TELE.addLine("starting to shoot");
+                    } else if (spindexer.shootAllComplete()) {
+                        //spindexPos = spindexer_intakePos1;
+                        shootAll = false;
+                        spindexer.resetSpindexer();
+                        //spindexer.processIntake();
+                        //TELE.addLine("stop shooting");
+                    }
+                    shooterTicker++;
+                    //spindexer.processIntake();
+                }
+
+                if (gamepad1.left_stick_button) {
+                    servo.setTransferPos(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+                    shootAll = false;
+                    spindexer.resetSpindexer();
+                }
+            }
+
+            //EXTRA STUFFINESS:
+            drive.updatePoseEstimate();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+//
+//            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("robot H", robotHeading);
+//            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.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
+            TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
+            TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
+
+            TELE.update();
+
+            light.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/ColorSensorTester.java

@@ -1,61 +0,0 @@
-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.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DigitalChannel;
-
-@Config
-@TeleOp
-
-@Disabled
-public class ColorSensorTester extends LinearOpMode {
-
-
-    public static String portAName = "pin0";
-
-    public static String portBName = "pin1";
-
-
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-
-        DigitalChannel pinA = hardwareMap.digitalChannel.get(portAName);
-        DigitalChannel pinB = hardwareMap.digitalChannel.get(portBName);
-
-
-
-
-        MultipleTelemetry TELE = new MultipleTelemetry(
-                telemetry,
-                FtcDashboard.getInstance().getTelemetry()
-        );
-
-
-
-        waitForStart();
-
-        if(isStopRequested()) return;
-
-        while(opModeIsActive()){
-
-            TELE.addData("pinA", pinA.getState());
-            TELE.addData("pinB", pinB.getState());
-
-            TELE.update();
-
-
-
-
-        }
-
-
-
-    }
-}

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

@@ -0,0 +1,71 @@
+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 com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+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()){
+
+
+            NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+
+            double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+
+            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", gP1);
+            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

@@ -4,32 +4,35 @@ 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.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import java.util.List;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
-//TODO: fix to get the apriltag that it is reading
 @Config
 @TeleOp
+//TODO: fix to get the apriltag that it is reading
 public class LimelightTest extends LinearOpMode {
     MultipleTelemetry TELE;
-    public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
+    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 {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        limelight.pipelineSwitch(pipeline);
+        robot = new Robot(hardwareMap);
+        turret = new Turret(robot, TELE, robot.limelight);
+        robot.limelight.pipelineSwitch(pipeline);
         waitForStart();
         if (isStopRequested()) return;
-        limelight.start();
         while (opModeIsActive()){
             if (mode == 0){
-                limelight.pipelineSwitch(pipeline);
-                LLResult result = limelight.getLatestResult();
+                robot.limelight.pipelineSwitch(pipeline);
+                LLResult result = robot.limelight.getLatestResult();
                 if (result != null) {
                     if (result.isValid()) {
                         TELE.addData("tx", result.getTx());
@@ -38,40 +41,29 @@ public class LimelightTest extends LinearOpMode {
                     }
                 }
             } else if (mode == 1){
-                limelight.pipelineSwitch(1);
-                LLResult result = limelight.getLatestResult();
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        int id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
-
-                }
-            } else if (mode == 2){
-                limelight.pipelineSwitch(2);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else if (mode == 3){
-                limelight.pipelineSwitch(3);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
+                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 {
-                limelight.pipelineSwitch(0);
+                robot.limelight.pipelineSwitch(0);
             }
+
+            if (turretMode){
+                if (turretPos != 0.501){
+                    turret.setTurret(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

@@ -1,24 +1,67 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
+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 static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
+
 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.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
+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;
 
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-    public static int mode = 0;
+    public static int mode = 1;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
+
+    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 = 75;
+    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;
+    public static boolean turretTrack = true;
     Robot robot;
     Flywheel flywheel;
+    Servos servo;
+    MecanumDrive drive;
+    Turret turret;
+    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;
+    public static double spinSpeed = 0.02;
+    Spindexer spindexer ;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -26,43 +69,140 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new Flywheel();
+        flywheel = new Flywheel(hardwareMap);
+        spindexer = new Spindexer(hardwareMap);
+        servo = new Servos(hardwareMap);
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0,0,0));
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
+        turret = new Turret(robot, TELE, robot.limelight);
+        Turret.limelightUsed = true;
 
         waitForStart();
 
+        robot.limelight.start();
+
         if (isStopRequested()) return;
 
         while (opModeIsActive()) {
 
+            if (redAlliance){
+                robot.limelight.pipelineSwitch(4);
+            } else {
+                robot.limelight.pipelineSwitch(2);
+            }
+
+            //TURRET TRACKING
+            drive.updatePoseEstimate();
+
+            double robX = drive.localizer.getPose().position.x;
+            double robY = drive.localizer.getPose().position.y;
+
+            double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+            double goalX = -15;
+            double goalY = 0;
+
+            double dx = robX - goalX;  // delta x from robot to goal
+            double dy = robY - goalY;  // delta y from robot to goal
+            Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+
+            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+            if (turretTrack){
+                turret.trackGoal(deltaPose);
+            } else if (turretPos != 0.501){
+                turret.setTurret(turretPos);
+            }
+
+            double voltage = robot.voltage.getVoltage();
+
             if (mode == 0) {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                double powPID = flywheel.manageFlywheel((int) parameter, leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition());
-                rightShooter.setPower(powPID);
-                leftShooter.setPower(powPID);
-                TELE.addData("PIDPower", powPID);
+                flywheel.setPIDF(P, I, D, F / voltage);
+                flywheel.manageFlywheel((int) Velocity);
             }
 
             if (hoodPos != 0.501) {
-                robot.hood.setPosition(hoodPos);
+                if (enableHoodAutoOpen) {
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
+                } else {
+                    robot.hood.setPosition(hoodPos + hoodOffset);
+                }
             }
 
-            TELE.addData("Used Velocity", flywheel.getVelo(leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition()));
-            TELE.addData("Velocity1", flywheel.getVelo1());
-            TELE.addData("Velocity2", flywheel.getVelo2());
+            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;
+
+                //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();
+
+                        if (prevSpinPos < 0.9){
+                            robot.spin1.setPosition(prevSpinPos + spinSpeed);
+                            robot.spin2.setPosition(1 - prevSpinPos - spinSpeed);
+                        }
+                    }
+
+
+
+                } 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("Position1", robot.shooter1.getCurrentPosition()/28);
-            TELE.addData("Position2", robot.shooter2.getCurrentPosition()/28);
+            TELE.addData("Position", robot.shooter1.getCurrentPosition());
+            TELE.addData("Voltage", voltage);
 
             TELE.update();
 
         }
 
     }
-}
+}

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

@@ -0,0 +1,110 @@
+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.ftc.Actions;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+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;
+
+@Config
+@TeleOp
+public class SortingTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+    @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);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        int motif = 21;
+        boolean intaking = true;
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            spindexer.setIntakePower(1);
+            robot.transfer.setPower(1);
+
+            if (gamepad1.crossWasPressed()){
+                motif = 21;
+            } else if (gamepad1.squareWasPressed()){
+                motif = 22;
+            } else if (gamepad1.triangleWasPressed()){
+                motif = 23;
+            }
+            flywheel.manageFlywheel(2500);
+
+            if (gamepad1.leftBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.prepareShootAll(
+                                3,
+                                5,
+                                motif,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+            } else if (gamepad1.rightBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.shootAllAuto(
+                                3.5,
+                                0.014,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+                intaking = true;
+            } else if (intaking){
+                spindexer.processIntake();
+            }
+        }
+    }
+}

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

@@ -0,0 +1,51 @@
+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 com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@TeleOp
+@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

@@ -1,25 +1,34 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
 
-@Disabled
+@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"));
+        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.HSV, 160 / 360.0 * 255, 190 / 360.0 * 255); // purple
-        crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
-        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, 110 / 360.0 * 255, 140 / 360.0 * 255); // green
-        crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); // 10mm or closer requirement
+        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);
+
     }
 }
 

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

@@ -1,104 +1,85 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 
-@Config
 public class Flywheel {
-    public static double kP = 0.001;           // small proportional gain (tune this)
-    public static double maxStep = 0.06;         // prevents sudden jumps
-    double initPos1 = 0.0;
-    double initPos2 = 0.0;
-    double stamp = 0.0;
-    double stamp1 = 0.0;
-    double ticker = 0.0;
-    double currentPos1 = 0.0;
-    double currentPos2 = 0.0;
+    Robot robot;
+    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
     double velo = 0.0;
-    double velo1 = 0.0;
-    double velo1a = 0.0;
-    double velo1b = 0.0;
-    double velo2 = 0.0;
-    double velo3 = 0.0;
-    double velo4 = 0.0;
-    double velo5 = 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() {
-        //robot = new Robot(hardwareMap);
+    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(double shooter1CurPos, double shooter2CurPos) {
-        ticker++;
-        if (ticker % 2 == 0) {
-            velo5 = velo4;
-            velo4 = velo3;
-            velo3 = velo2;
-            velo2 = velo1;
-
-            currentPos1 = shooter1CurPos / 28;
-            currentPos2 = shooter2CurPos / 28;
-            stamp = getTimeSeconds(); //getRuntime();
-            velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
-            velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
-            initPos1 = currentPos1;
-            initPos2 = currentPos2;
-            stamp1 = stamp;
-
-            if (velo1a < 200){
-                velo1 = velo1b;
-            } else if (velo1b < 200){
-                velo1 = velo1a;
-            } else {
-                velo1 = (velo1a + velo1b) / 2;
-            }
-        }
-        return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
+    public double getVelo () {
+        return velo;
+    }
+    public double getVelo1 () {
+        return velo1;
+    }
+    public double getVelo2 () {
+        return velo2;
     }
-
-    public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
-
-    public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
 
     public boolean getSteady() {
         return steady;
     }
 
-    private double getTimeSeconds() {
-        return (double) System.currentTimeMillis() / 1000.0;
-    }
-
-    public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
-        targetVelocity = commandedVelocity;
-        velo = getVelo(shooter1CurPos, shooter2CurPos);
-        // Flywheel PID code here
-        if (targetVelocity - velo > 500) {
-            powPID = 1.0;
-        } else if (velo - targetVelocity > 500) {
-            powPID = 0.0;
-        } else {
-            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
-
-            // --- PROPORTIONAL CORRECTION ---
-            double error = targetVelocity - velo;
-            double correction = kP * error;
-
-            // limit how fast power changes (prevents oscillation)
-            correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-            // --- FINAL MOTOR POWER ---
-            powPID = feed + correction;
-
-            // clamp to allowed range
-            powPID = Math.max(0, Math.min(1, powPID));
+    // Set the robot PIDF for the next cycle.
+    private double prevF = 0;
+    public static double voltagePIDFDifference = 0.8;
+    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;
+        if (Math.abs(prevF - f) > voltagePIDFDifference){
+            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+            robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+            prevF = f;
         }
-
-        steady = (Math.abs(targetVelocity - velo) < 100.0);
-
-        return powPID;
     }
 
-    public void update() {
+    // 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 void manageFlywheel(double commandedVelocity) {
+
+        if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
+            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));
+        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(commandedVelocity - velo) < 50);
+
     }
-}
+
+    public void update()
+    {
+    }
+}

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

@@ -0,0 +1,108 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.StateEnums.LightState;
+
+
+@Config
+public final class Light {
+
+    private static Light instance;
+    public static  double ballColorCycleTime = 1000; //in ms
+    public static double restingTime = 125; //in ms
+
+    private Servo lightServo;
+    private LightState state = LightState.DISABLED;
+
+    // References to other systems (NOT static)
+    private Spindexer spindexer;
+    private Turret turret;
+    private double manualLightColor = Color.Light0;
+
+    private double lightColor = Color.Light0;
+    private double previousLightColor = lightColor;
+
+    private Light() {
+    }
+
+    public static synchronized Light getInstance() {
+        if (instance == null) {
+            instance = new Light();
+        }
+        return instance;
+    }
+
+    // Call once in OpMode init()
+    public void init(
+            Servo servo,
+            Spindexer spin,
+            Turret turr
+    ) {
+        this.lightServo = servo;
+        this.spindexer = spin;
+        this.turret = turr;
+    }
+
+    public void setManualLightColor(double value) {
+        this.manualLightColor = value;
+    }
+
+    public void setState(LightState newState) {
+        state = newState;
+    }
+
+    public void update() {
+        if (lightServo == null) return;
+
+        switch (state) {
+
+            case BALL_COUNT:
+                lightColor = spindexer.ballCounterLight();
+                break;
+
+            case BALL_COLOR:
+
+                if ((System.currentTimeMillis() % ballColorCycleTime) < ((ballColorCycleTime / 3) - restingTime)) {
+                    lightColor = spindexer.getRearCenterLight();
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime / 3)) {
+                    lightColor = 0;
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < ((2 * ballColorCycleTime / 3) - restingTime)) {
+                    lightColor = spindexer.getDriverLight();
+
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (2 * ballColorCycleTime / 3)) {
+                    lightColor = 0;
+                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime - restingTime)) {
+                    lightColor = spindexer.getPassengerLight();
+
+                } else {
+                    lightColor = 0;
+                }
+                break;
+
+            case GOAL_LOCK:
+                lightColor = turret.getLightColor();
+                break;
+
+            case MANUAL:
+                lightColor = manualLightColor;
+                break;
+
+            case DISABLED:
+                break;
+
+            case OFF:
+                lightColor = 0;
+                break;
+        }
+
+        if (lightColor != previousLightColor) {
+            lightServo.setPosition(lightColor);
+        }
+
+        previousLightColor = lightColor;
+
+    }
+}

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

@@ -0,0 +1,66 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+public class MeasuringLoopTimes {
+    private ElapsedTime elapsedtime;
+    private double minLoopTime = 999999999999.0;
+
+    private double maxLoopTime = 0.0;
+    double mainLoopTime = 0.0;
+
+    private double MeasurementStart = 0.0;
+    double currentTime = 0.0;
+
+    private double avgLoopTime = 0.0;
+    private int avgLoopTimeTicker = 0;
+    private double avgLoopTimeSum = 0;
+
+    private double getTimeSeconds ()
+    {
+        return (double) System.currentTimeMillis()/1000.0;
+    }
+
+    public void init() {
+        elapsedtime = new ElapsedTime();
+        elapsedtime.reset();
+
+        MeasurementStart = getTimeSeconds();
+    }
+
+
+    public double getAvgLoopTime() {
+        return avgLoopTime;
+    }
+
+    public double getMaxLoopTimeOneMin() {
+        return maxLoopTime;
+    }
+
+    public double getMinLoopTimeOneMin() {
+        return minLoopTime;
+    }
+
+    public void loop() {
+        currentTime = getTimeSeconds();
+        if ((MeasurementStart + 15.0) < currentTime)
+        {
+            minLoopTime = 9999999.0;
+            maxLoopTime = 0.0;
+            MeasurementStart = currentTime;
+
+            avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
+            avgLoopTimeSum = 0.0;
+            avgLoopTimeTicker = 0;
+        }
+
+        mainLoopTime = elapsedtime.milliseconds();
+        elapsedtime.reset();
+
+        avgLoopTimeSum += mainLoopTime;
+        avgLoopTimeTicker++;
+        minLoopTime = Math.min(minLoopTime,mainLoopTime);
+        maxLoopTime = Math.max(maxLoopTime,mainLoopTime);
+    }
+
+}

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

@@ -0,0 +1,66 @@
+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){
+                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);
+            }
+
+            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

@@ -1,59 +1,131 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
-
+import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.hardware.rev.RevColorSensorV3;
+import com.qualcomm.robotcore.hardware.AnalogInput;
 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.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
 
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+@Config
 public class Robot {
 
     //Initialize Public Components
 
-    public Limelight3A limelight3A;
-
-    public IMU imu;
-
+    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 static double shooterPIDF_P = 255;
+    public static double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_F = 75;
+//    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 Robot (HardwareMap hardwareMap) {
+    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 VoltageSensor voltage;
+
+    public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
+        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);
 
-        limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
+        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");
 
-        shooter1 = hardwareMap.get(DcMotorEx.class, "s1");
-        shooter2 = hardwareMap.get(DcMotorEx.class, "s2");
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooter2.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
+        shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        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");
 
-        if (USING_LL) {
-            limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
-            limelight3A.start(); // This tells Limelight to start looking!
+        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
+
+        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();
         }
 
-        imu = hardwareMap.get(IMU.class, "imu");
-
-        RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
-
-        RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoFacingDirection, usbFacingDirection);
-
-        imu.initialize(new IMU.Parameters(orientationOnRobot));
-
+        light = hardwareMap.get(Servo.class, "light");
+        voltage = hardwareMap.voltageSensor.iterator().next();
     }
 }

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

@@ -0,0 +1,84 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
+
+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;
+    Robot robot;
+    PIDFController spinPID;
+    PIDFController turretPID;
+
+    private double prevSpinPos = 0.0;
+    private boolean firstSpinPos = true;
+
+    private double prevTransferPos = 0.0;
+    private boolean firstTransferPos = true;
+
+    private double prevHoodPos = 0.0;
+    private boolean firstHoodPos = true;
+
+    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 getSpinCmdPos() {
+        return prevSpinPos;
+    }
+
+    public static boolean servoPosEqual(double pos1, double pos2) {
+        return (Math.abs(pos1 - pos2) < 0.005);
+    }
+
+    public void setTransferPos(double pos) {
+        if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
+            robot.transferServo.setPosition(pos);
+            firstTransferPos = false;
+        }
+
+        prevTransferPos = pos;
+    }
+
+    public double setSpinPos(double pos) {
+        if (firstSpinPos || !servoPosEqual(pos, prevSpinPos)) {
+            robot.spin1.setPosition(pos);
+            robot.spin2.setPosition(1-pos);
+            firstSpinPos = false;
+        }
+
+        prevSpinPos = pos;
+        return pos;
+    }
+
+    public void setHoodPos(double pos){
+        if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
+            robot.hood.setPosition(pos + hoodOffset);
+            firstHoodPos = false;
+        }
+
+        prevHoodPos = pos;
+    }
+
+    public boolean spinEqual(double pos) {
+        return Math.abs(pos - this.getSpinPos()) < 0.03;
+    }
+}

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

@@ -0,0 +1,682 @@
+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 com.qualcomm.robotcore.hardware.NormalizedColorSensor;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+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.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+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.StateEnums;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+
+import java.util.Objects;
+
+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 static int shootWaitMax = 4;
+    public static boolean whileShooting = false;
+    public static int waitFirstBallTicks = 4;
+    private int shootTicks = 0;
+    public StateEnums.Motif desiredMotif = StateEnums.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 < 48) {
+
+            // Mark Ball Found
+            newPos1Detection = true;
+
+            if (detectRearColor) {
+                // Detect which color
+                NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+
+                double gP = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.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) {
+                NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
+
+                double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.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) {
+                NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
+
+                double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.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) {
+        servos.setSpinPos(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 = pos;
+    }
+
+    public void stopSpindexer() {
+
+    }
+
+    public double getRearCenterLight() {
+        BallColor color = GetRearCenterColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+
+
+    public double getDriverLight() {
+        BallColor color = GetFrontDriverColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+
+    public double getPassengerLight() {
+        BallColor color = GetFrontPassengerColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+    public double ballCounterLight() {
+        int counter = 0;
+        if (!ballPositions[0].isEmpty) {
+            counter++;
+        }
+        if (!ballPositions[1].isEmpty) {
+            counter++;
+        }
+        if (!ballPositions[2].isEmpty) {
+            counter++;
+        }
+
+        if (counter == 3) {
+            return Light3;
+        } else if (counter == 2) {
+            return Light2;
+        } else if (counter == 1) {
+            return Light1;
+        } else {
+            return 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;
+                servos.setSpinPos(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
+                    servos.setSpinPos(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;
+                    servos.setSpinPos(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;
+                }
+                servos.setSpinPos(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
+                    servos.setSpinPos(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;
+                servos.setSpinPos(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
+                    servos.setSpinPos(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
+                servos.setSpinPos(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;
+                }
+                servos.setSpinPos(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
+                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
+                }
+                break;
+
+            case SHOOTWAIT:
+                // 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;
+                servos.setSpinPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
+                break;
+
+            case SHOOT_PREP_CONTINOUS:
+                if (shootTicks > waitFirstBallTicks){
+                    currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+                    shootTicks++;
+                } else if (servos.spinEqual(spinStartPos)){
+                    shootTicks++;
+                    servos.setTransferPos(transferServo_in);
+                } else {
+                    servos.setSpinPos(spinStartPos);
+                }
+                break;
+
+            case SHOOT_CONTINOUS:
+                whileShooting = true;
+                ballPositions[0].isEmpty = false;
+                ballPositions[1].isEmpty = false;
+                ballPositions[2].isEmpty = false;
+                if (servos.getSpinPos() > spinEndPos){
+                    whileShooting = false;
+                    servos.setTransferPos(transferServo_out);
+                    shootTicks = 0;
+                    currentIntakeState = IntakeState.FINDNEXT;
+                } else {
+                    double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
+                    if (spinPos > spinEndPos + 0.03){
+                        spinPos = spinEndPos + 0.03;
+                    }
+                    servos.setSpinPos(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 (StateEnums.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;
+    }
+    private double prevPow = 0.501;
+    private boolean firstIntakePow = true;
+    public void setIntakePower(double pow){
+        if (firstIntakePow || prevPow != pow){
+            firstIntakePow = false;
+            robot.intake.setPower(pow);
+        }
+        prevPow = pow;
+    }
+}

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

@@ -1,8 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-public interface Subsystem {
-
-    public void update();
-
-
-}

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

@@ -0,0 +1,237 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+
+public class Targeting {
+    // 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);
+        KNOWNTARGETING[1][3] = new Settings(2800.0, 0.68);  // Real settings replaced with (0,3) new Settings (2800.0, 0.62);
+        KNOWNTARGETING[1][4] = new Settings(3000.0, 0.58);  // Real setting replaced with (0,4)  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);
+        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(2800.0, 0.62);  // Real settings replaced with (1,3) new Settings (2900.0, 0.53);
+        KNOWNTARGETING[2][4] = new Settings(3000.0, 0.55);  // real settings replaces with (1,4) new Settings (3100.0, 0.50);
+        KNOWNTARGETING[2][5] = new Settings(3200.0, 0.50);  // real settings replaced with (1,5) 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 final int TILE_UPPER_QUARTILE = 18;
+    public final int TILE_LOWER_QUARTILE = 6;
+    public double robotInchesX, robotInchesY = 0.0;
+    public int robotGridX, robotGridY = 0;
+    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 static boolean turretInterpolate = false;
+
+    public Targeting() {
+    }
+
+    double cos54 = Math.cos(Math.toRadians(-54));
+    double sin54 = Math.sin(Math.toRadians(-54));
+
+    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
+        Settings recommendedSettings = new Settings(0.0, 0.0);
+        if (!redAlliance){
+            sin54 = Math.sin(Math.toRadians(54));
+        } else {
+            sin54 = Math.sin(Math.toRadians(-54));
+        }
+        // TODO: test these values determined from the fmap
+        double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
+        double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
+
+        // 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) robotInchesY, tileSize);
+
+        //clamp
+
+        //if (redAlliance) {
+            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //} else {
+//            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+//            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //}
+
+        // 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;
+        }
+
+        // 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;
+        }
+    }
+
+    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;
+        }
+    }
+}

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

@@ -0,0 +1,370 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+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 org.firstinspires.ftc.teamcode.constants.Color;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Config
+
+public class Turret {
+
+    public static double turretTolerance = 0.02;
+    public static double turrPosScalar = 0.00011264432;
+    public static double turret180Range = 0.54;
+    public static double turrDefault = 0.35;
+    public static double turrMin = 0;
+    public static double turrMax = 1;
+    public static boolean limelightUsed = true;
+    public static double limelightPosOffset = 5;
+    public static double manualOffset = 0.0;
+
+//    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
+
+//    public static double clampTolerance = 0.03;
+    //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
+    public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
+    Robot robot;
+    MultipleTelemetry TELE;
+    Limelight3A webcam;
+    double tx = 0.0;
+    double ty = 0.0;
+    double limelightPosX = 0.0;
+    double limelightPosY = 0.0;
+    LLResult result;
+    public static double TARGET_POSITION_TOLERANCE = 0.5;
+    public static double COLOR_OK_TOLERANCE = 2;
+    boolean bearingAligned = false;
+    private boolean lockOffset = false;
+    private int obeliskID = 0;
+    private double offset = 0.0;
+    private double currentTrackOffset = 0.0;
+    private double lightColor = Color.LightRed;
+    private int currentTrackCount = 0;
+    double permanentOffset = 0.0;
+    private int prevPipeline = -1;
+    PIDController bearingPID;
+
+    public int llCoast = 0;
+    public int LL_COAST_TICKS = 60;
+
+    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 double getLightColor() {
+        return lightColor;
+    }
+
+    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;
+
+    }
+    private double prevTurrPos = 0;
+    private boolean isFirstTurretPos = true;
+    public void setTurret(double pos) {
+        if (isFirstTurretPos || prevTurrPos != pos){
+            robot.turr1.setPosition(pos);
+            robot.turr2.setPosition(1-pos);
+            isFirstTurretPos = false;
+        }
+        prevTurrPos = pos;
+    }
+    public void pipelineSwitch(int pipeline){
+        if (prevPipeline != pipeline){
+            robot.limelight.pipelineSwitch(pipeline);
+        }
+        prevPipeline = pipeline;
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
+    }
+
+    public static double alphaPosConstant = 0.3;
+    private void limelightRead() { // only for tracking purposes, not general reads
+        Double xPos = null;
+        Double yPos = null;
+        Double zPos = null;
+        Double hPos = null;
+        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;
+                }
+                List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                    limelightTagPose = fiducial.getRobotPoseTargetSpace();
+                    if (limelightTagPose != null){
+                        xPos = limelightTagPose.getPosition().x;
+                        yPos = limelightTagPose.getPosition().y;
+                        zPos = limelightTagPose.getPosition().z;
+                        hPos = limelightTagPose.getOrientation().getYaw();
+                    }
+                }
+
+            }
+        }
+        if (xPos != null){
+            if (zPos<0) {
+                limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
+                limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
+                limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
+                limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
+            }
+        }
+    }
+
+    public double getBearing() {
+        tx = 1000;
+        limelightRead();
+        return tx;
+    }
+
+    public double getTy() {
+        return ty;
+    }
+
+    Pose3D limelightTagPose;
+    double limelightTagX = 0.0;
+    double limelightTagY = 0.0;
+    double limelightTagZ = 0.0;
+    double limelightTagH = 0.0;
+    public double getLimelightX() {
+        return limelightTagX;
+    }
+    public double getLimelightY() {return limelightTagY;}
+    public double getLimelightZ(){return limelightTagZ;}
+    public double getLimelightH(){return limelightTagH;}
+
+    public void relocalize(){
+        setTurret(turrDefault);
+        limelightRead();
+    }
+
+    public int detectObelisk() {
+        webcam.pipelineSwitch(1);
+        LLResult result = webcam.getLatestResult();
+        if (result != null && result.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            double prevTx  = -1000;
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                double currentTx = fiducial.getTargetXDegrees();
+                if (currentTx > prevTx){
+                    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 targetTx = 0;
+    public static double alphaTX = 0.5;
+    private double bearingAlign(LLResult llResult) {
+        double bearingOffset = 0.0;
+        double tx = llResult.getTx();   // How far left or right the target is (degrees)
+        targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
+//        final double MIN_OFFSET_POWER = 0.15;
+//        // 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;
+            lightColor = Color.LightBlue;
+        } else if (abs(targetTx) < COLOR_OK_TOLERANCE) {
+            bearingAligned = false;
+            lightColor = Color.LightPurple;
+        }  else {
+            bearingAligned = false;
+            lightColor = Color.LightOrange;
+        }
+
+        // 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 && limelightUsed) {
+            currentTrackOffset += bearingAlign(result);
+            currentTrackCount++;
+
+            TELE.addData("LL Tracking: ", llCoast);
+
+            // Assume the last tracked value is always better than
+            // any previous value, even if its not fully aligned.
+            llCoast = LL_COAST_TICKS;
+//            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;
+//            }
+            if (llCoast <= 0) {
+                TELE.addData("LL No Track: ", llCoast);
+                lightColor = Color.LightRed;
+                currentTrackOffset = 0.0;
+                currentTrackCount = 0;
+            } else {
+                TELE.addData("LL Coasting: ", llCoast);
+                llCoast--;
+            }
+        }
+
+        // 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
+        if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
+            setTurret(turretPos + manualOffset);
+        }
+
+
+        /* ---------------- 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);
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/subsystems/Limelight.java

@@ -1,224 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils.subsystems;
-
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.LLStatus;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
-import org.firstinspires.ftc.robotcore.external.navigation.Position;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-import org.firstinspires.ftc.teamcode.variables.HardwareConfig;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Subsystem;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Objects;
-
-public class Limelight implements Subsystem {
-
-    private final Limelight3A limelight;
-    private final MultipleTelemetry telemetry;
-
-    private LLResult result;
-    private LLStatus status;
-
-    private boolean telemetryOn = false;
-    private String mode = "AT";
-
-    // ✅ Internal cached data
-    private Pose3D botpose;
-
-    private double captureLatency = 0.0;
-    private double targetingLatency = 0.0;
-    private double parseLatency = 0.0;
-    private double[] pythonOutput = new double[0];
-
-    private double tx = 0.0;
-    private double txnc = 0.0;
-    private double ty = 0.0;
-    private double tync = 0.0;
-
-    private double ta = 0.0;
-
-    private List<LLResultTypes.BarcodeResult> barcodeResults = new ArrayList<>();
-    private List<LLResultTypes.ClassifierResult> classifierResults = new ArrayList<>();
-    private List<LLResultTypes.DetectorResult> detectorResults = new ArrayList<>();
-    private List<LLResultTypes.FiducialResult> fiducialResults = new ArrayList<>();
-    private List<LLResultTypes.ColorResult> colorResults = new ArrayList<>();
-
-    private IMU imu;
-
-    public Limelight(Robot robot, MultipleTelemetry tele) {
-
-        HardwareConfig.USING_LL= true;
-
-        this.limelight = robot.limelight3A;
-        this.telemetry = tele;
-        limelight.pipelineSwitch(1);
-
-        this.imu = robot.imu;
-
-        this.imu.resetYaw();
-
-
-    }
-
-    public void setPipeline(int pipeline) {limelight.pipelineSwitch(pipeline);}
-
-    public void setTelemetryOn(boolean state) { telemetryOn = state; }
-
-    public void setMode(String newMode) { this.mode = newMode; }
-
-
-
-    /** ✅ MAIN UPDATE LOOP */
-    @Override
-    public void update() {
-
-
-
-        result = limelight.getLatestResult();
-        status = limelight.getStatus();
-
-
-
-        if (result != null && (Objects.equals(status.getPipelineType(), "pipe_python") || result.isValid())){
-            // Refresh all cached values
-            botpose         = result.getBotpose();
-            captureLatency  = result.getCaptureLatency();
-            targetingLatency= result.getTargetingLatency();
-            parseLatency    = result.getParseLatency();
-            pythonOutput    = result.getPythonOutput();
-            tx              = result.getTx();
-            txnc            = result.getTxNC();
-            ty              = result.getTy();
-            tync            = result.getTyNC();
-            ta              = result.getTa();
-            barcodeResults  = result.getBarcodeResults();
-            classifierResults = result.getClassifierResults();
-            detectorResults   = result.getDetectorResults();
-            fiducialResults   = result.getFiducialResults();
-            colorResults      = result.getColorResults();
-        }
-
-        if (telemetryOn) telemetryUpdate();
-    }
-
-    /** ✅ Telemetry Output */
-    private void telemetryUpdate() {
-// ✅ Use getters instead of directly accessing 'status' or cached fields
-        telemetry.addData("Name", "%s", getStatus().getName());
-        telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
-                getStatus().getTemp(),
-                getStatus().getCpu(),
-                (int) getStatus().getFps());
-        telemetry.addData("Pipeline", "Index: %d, Type: %s",
-                getStatus().getPipelineIndex(),
-                getStatus().getPipelineType());
-        telemetry.addData("ResultNull", result == null);
-        telemetry.addData("ResultValid", result.isValid());
-
-
-
-
-        if (result != null && result.isValid()) {
-            telemetry.addData("LL Latency", getTotalLatency());
-            telemetry.addData("Capture Latency", getCaptureLatency());
-            telemetry.addData("Targeting Latency", getTargetingLatency());
-            telemetry.addData("Parse Latency", getParseLatency());
-            telemetry.addData("PythonOutput", java.util.Arrays.toString(getPythonOutput()));
-            telemetry.addData("tx", getTx());
-            telemetry.addData("txnc", getTxNC());
-            telemetry.addData("ty", getTy());
-            telemetry.addData("tync", getTyNC());
-            telemetry.addData("ta", getTa());
-
-
-
-
-            telemetry.addData("BotX", getBotX());
-
-            telemetry.addData("BotY", getBotY());
-
-
-
-
-
-            if (Objects.equals(mode, "BR"))
-                for (LLResultTypes.BarcodeResult br : getBarcodeResults())
-                    telemetry.addData("Barcode", "Data: %s", br.getData());
-
-            if (Objects.equals(mode, "CL"))
-                for (LLResultTypes.ClassifierResult cr : getClassifierResults())
-                    telemetry.addData("Classifier", "Class: %s, Confidence: %.2f",
-                            cr.getClassName(), cr.getConfidence());
-
-            if (Objects.equals(mode, "DE"))
-                for (LLResultTypes.DetectorResult dr : getDetectorResults())
-                    telemetry.addData("Detector", "Class: %s, Area: %.2f",
-                            dr.getClassName(), dr.getTargetArea());
-
-            if (Objects.equals(mode, "FI"))
-                for (LLResultTypes.FiducialResult fr : getFiducialResults())
-                    telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f",
-                            fr.getFiducialId(), fr.getFamily(),
-                            fr.getTargetXDegrees(), fr.getTargetYDegrees());
-
-            if (Objects.equals(mode, "CO"))
-                for (LLResultTypes.ColorResult cr : getColorResults())
-                    telemetry.addData("Color", "X: %.2f, Y: %.2f",
-                            cr.getTargetXDegrees(), cr.getTargetYDegrees());
-        } else {
-            telemetry.addData("Limelight", "No data available");
-        }
-    }
-
-    // ✅ Getter methods (for use anywhere else in your code)
-
-    public Pose3D getBotPose() {
-        if (botpose == null) {
-            botpose = new Pose3D(
-                    new Position(),
-                    new YawPitchRollAngles(AngleUnit.DEGREES, 0.0, 0.0, 0.0, 0L)
-            );
-        }
-        return botpose;
-    }
-
-    public double getCaptureLatency() { return captureLatency; }
-    public double getTargetingLatency() { return targetingLatency; }
-    public double getTotalLatency() { return captureLatency + targetingLatency; }
-    public double getParseLatency() { return parseLatency; }
-    public double[] getPythonOutput() { return pythonOutput; }
-
-    public double getTx() { return tx; }
-    public double getTxNC() { return txnc; }
-    public double getTy() { return ty; }
-    public double getTyNC() { return tync;}
-
-    public double getTa() {return ta;}
-
-    public double getBotX() {return getBotPose().getPosition().x;}
-
-    public double getBotY() {return getBotPose().getPosition().y;}
-
-
-
-
-    public List<LLResultTypes.BarcodeResult> getBarcodeResults() { return barcodeResults; }
-    public List<LLResultTypes.ClassifierResult> getClassifierResults() { return classifierResults; }
-    public List<LLResultTypes.DetectorResult> getDetectorResults() { return detectorResults; }
-    public List<LLResultTypes.FiducialResult> getFiducialResults() { return fiducialResults; }
-    public List<LLResultTypes.ColorResult> getColorResults() { return colorResults; }
-
-    public LLStatus getStatus() { return status; }
-    public LLResult getRawResult() { return result; }
-
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/variables/HardwareConfig.java

@@ -1,12 +0,0 @@
-package org.firstinspires.ftc.teamcode.variables;
-
-
-import com.acmerobotics.dashboard.config.Config;
-
-@Config
-public class HardwareConfig {
-
-    public static boolean USING_LL = false;
-
-
-}

build.dependencies.gradle

@@ -6,30 +6,26 @@ repositories {
     maven { url = 'https://maven.brott.dev/' } //RR
     maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
     maven { url = "https://repo.dairy.foundation/releases" } //AS
+
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:11.0.0'
-    implementation 'org.firstinspires.ftc:Blocks:11.0.0'
-    implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
-    implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
-    implementation 'org.firstinspires.ftc:Hardware:11.0.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
-    implementation 'org.firstinspires.ftc:Vision:11.0.0'
+    implementation 'org.firstinspires.ftc:Inspection:11.1.0'
+    implementation 'org.firstinspires.ftc:Blocks:11.1.0'
+    //noinspection Aligned16KB
+    implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
+    implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
+    implementation 'org.firstinspires.ftc:Hardware:11.1.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:11.1.0'
+    implementation 'org.firstinspires.ftc:Vision:11.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
 
-
-    implementation 'com.pedropathing:ftc:2.0.1' //PedroCore
-    implementation 'com.pedropathing:telemetry:0.0.6' //PedroTele
-
+    implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
+    implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
     implementation 'com.bylazar:fullpanels:1.0.2' //Panels
 
-    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 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
 
@@ -40,11 +36,5 @@ dependencies {
     implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
 
 
-
-
-
-
-
-
 }
 

build.gradle

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