Added light?

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

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:versionCode="61"
-          android:versionName="11.0">
+          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

@@ -92,7 +92,6 @@ public class ConceptAprilTag extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
         while (opModeIsActive()) {
 
             telemetryAprilTag();
@@ -110,7 +109,6 @@ public class ConceptAprilTag extends LinearOpMode {
             // Share the CPU.
             sleep(20);
         }
-        }
 
         // Save more CPU resources when camera is no longer needed.
         visionPortal.close();

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

@@ -88,7 +88,6 @@ public class ConceptAprilTagEasy extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
         while (opModeIsActive()) {
 
             telemetryAprilTag();
@@ -106,7 +105,6 @@ public class ConceptAprilTagEasy extends LinearOpMode {
             // Share the CPU.
             sleep(20);
         }
-        }
 
         // Save more CPU resources when camera is no longer needed.
         visionPortal.close();

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

@@ -81,7 +81,6 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
-        if (opModeIsActive()) {
         while (opModeIsActive()) {
 
             telemetryCameraSwitching();
@@ -102,7 +101,6 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
             // Share the CPU.
             sleep(20);
         }
-        }
 
         // Save more CPU resources when camera is no longer needed.
         visionPortal.close();

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'
@@ -28,14 +45,32 @@ 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 "com.acmerobotics.roadrunner:ftc:0.1.25"
+    implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
-    implementation "com.acmerobotics.roadrunner:core:1.0.1"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
-    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
     implementation 'org.ftclib.ftclib:core:2.1.1' // core
+    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

@@ -1,62 +1,9 @@
 package org.firstinspires.ftc.teamcode.autonomous;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.*;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
 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;
@@ -64,6 +11,8 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 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 static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
 
 import androidx.annotation.NonNull;
@@ -82,7 +31,6 @@ 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.constants.Poses_V2;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -95,30 +43,30 @@ import java.util.Objects;
 
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
-public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
+public class Auto_LT_Close extends LinearOpMode {
     public static double shoot0Vel = 2300, shoot0Hood = 0.93 + hoodOffset;
     public static double autoSpinStartPos = 0.2;
-    public static double shoot0SpinSpeedIncrease = 0.015;
+    public static double shoot0SpinSpeedIncrease = 0.02;
 
     public static double spindexerSpeedIncrease = 0.03;
-    public static double finalSpindexerSpeedIncrease = 0.025;
+    public static double finalSpindexerSpeedIncrease = 0.03;
 
+    // These values are ADDED to turrDefault
+    public static double redObeliskTurrPos1 = 0.12;
+    public static double redObeliskTurrPos2 = 0.13;
+    public static double redObeliskTurrPos3 = 0.14;
+    public static double blueObeliskTurrPos1 = -0.12;
+    public static double blueObeliskTurrPos2 = -0.13;
+    public static double blueObeliskTurrPos3 = -0.14;
+    public static double redTurretShootPos = 0.1;
+    public static double blueTurretShootPos = -0.14;
 
-    public static double redObeliskTurrPos1 = turrDefault + 0.12;
-    public static double redObeliskTurrPos2 = turrDefault + 0.13;
-    public static double redObeliskTurrPos3 = turrDefault + 0.14;
-
-    public static double blueObeliskTurrPos1 = turrDefault - 0.12;
-    public static double blueObeliskTurrPos2 = turrDefault - 0.13;
-    public static double blueObeliskTurrPos3 = turrDefault - 0.14;
     double obeliskTurrPos1 = 0.0;
     double obeliskTurrPos2 = 0.0;
     double obeliskTurrPos3 = 0.0;
     public static double normalIntakeTime = 3.3;
     public static double shoot1Turr = 0.57;
     public static double shoot0XTolerance = 1.0;
-    public static double redTurretShootPos = turrDefault + 0.12;
-    public static double blueTurretShootPos = turrDefault - 0.14;
     double turretShootPos = 0.0;
 
     public static double finalShootAllTime = 3.0;
@@ -130,7 +78,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
     public static double intake3Time = 4.2;
 
     public static double flywheel0Time = 3.5;
-    public static double pickup1Speed = 23;
+    public static double pickup1Speed = 15;
     // ---- SECOND SHOT / PICKUP ----
     public static double shoot1Vel = 2300;
     public static double shootAllVelocity = 2500;
@@ -163,21 +111,22 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
     Targeting.Settings targetingSettings;
     private double firstSpindexShootPos = autoSpinStartPos;
     private boolean shootForward = true;
-    private double x1, y1, h1;
+    double x1, y1, h1;
 
-    private double x2a, y2a, h2a, t2a;
+    double x2a, y2a, h2a, t2a;
 
-    private double x2b, y2b, h2b, t2b;
+    double x2b, y2b, h2b, t2b;
-    private double x2c, y2c, h2c, t2c;
+    double x2c, y2c, h2c, t2c;
 
-    private double x3a, y3a, h3a;
+    double x3a, y3a, h3a;
-    private double x3b, y3b, h3b;
+    double x3b, y3b, h3b;
-    private double x4a, y4a, h4a;
+    double x4a, y4a, h4a;
-    private double x4b, y4b, h4b;
+    double x4b, y4b, h4b;
 
-    private double xShoot, yShoot, hShoot;
+    double xShoot, yShoot, hShoot;
-    private double xGate, yGate, hGate;
+    double xGate, yGate, hGate;
-    private double xPrep, yPrep, hPrep;
+    double xPrep, yPrep, hPrep;
+    double xLeave, yLeave, hLeave;
 
     private double shoot1Tangent;
 
@@ -186,6 +135,8 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
     private int rearSlotGreen = 0;
     private int mostGreenSlot = 0;
+    int ballCycles = 3;
+    int prevMotif = 0;
 
     public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
         return new Action() {
@@ -202,14 +153,29 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                     stamp = System.currentTimeMillis();
                 }
                 ticker++;
-                robot.transferServo.setPosition(transferServo_out);
+                servos.setTransferPos(transferServo_out);
-
-                turret.manualSetTurret(turretShootPos);
-
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
 
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
                 TELE.addData("Velocity", flywheel.getVelo());
                 TELE.addData("Hood", robot.hood.getPosition());
                 TELE.addData("motif", motif_id);
@@ -219,8 +185,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                     spindexerWiggle *= -1.0;
 
-                    robot.spin1.setPosition(spindexer_intakePos1 + spindexerWiggle);
+                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
-                    robot.spin2.setPosition(1 - spindexer_intakePos1 - spindexerWiggle);
 
                     spindexer.detectBalls(true, true);
 
@@ -231,11 +196,12 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                     if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
                         passengerSlotGreen++;
                     }
+
                     if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
                         rearSlotGreen++;
                     }
 
-                    robot.intake.setPower(1);
+                    spindexer.setIntakePower(1);
 
                     decideGreenSlot = true;
 
@@ -250,8 +216,6 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                         mostGreenSlot = 1;
                     }
 
-
-
                     decideGreenSlot = false;
 
                     if (motif_id == 21) {
@@ -293,14 +257,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                     return true;
                 } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
+//                    TELE.addData("MostGreenSlot", mostGreenSlot);
+//                    TELE.update();
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
 
-                    TELE.addData("MostGreenSlot", mostGreenSlot);
+                    servos.setSpinPos(firstSpindexShootPos);
-
-
-                    robot.intake.setPower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
-
-                    robot.spin1.setPosition(firstSpindexShootPos);
-                    robot.spin2.setPosition(1 - firstSpindexShootPos);
 
                     return true;
                 } else {
@@ -314,11 +275,8 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
     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
@@ -327,6 +285,8 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 TELE.addData("Hood", robot.hood.getPosition());
                 TELE.update();
 
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
                 flywheel.manageFlywheel(vel);
                 velo = flywheel.getVelo();
 
@@ -334,36 +294,51 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                robot.intake.setPower(-0.3);
+                spindexer.setIntakePower(-0.3);
 
                 if (ticker == 1) {
                     stamp = getRuntime();
                 }
                 ticker++;
 
-                robot.intake.setPower(0);
+                spindexer.setIntakePower(0);
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
 
-                if (getRuntime() - stamp < shootTime) {
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
+                if ((getRuntime() - stamp < shootTime && servos.getSpinPos() < spinEndPos) || shooterTicker == 0) {
 
                     if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
-                        robot.spin1.setPosition(autoSpinStartPos);
+                        servos.setSpinPos(autoSpinStartPos);
-                        robot.spin2.setPosition(1 - autoSpinStartPos);
                     } else {
-                        robot.transferServo.setPosition(transferServo_in);
+                        servos.setTransferPos(transferServo_in);
                         shooterTicker++;
-                        double prevSpinPos = robot.spin1.getPosition();
+                        double prevSpinPos = servos.getSpinCmdPos();
-                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
-                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
                     }
 
                     return true;
 
                 } else {
-                    robot.transferServo.setPosition(transferServo_out);
+                    servos.setTransferPos(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
 
                     spindexer.resetSpindexer();
                     spindexer.processIntake();
@@ -398,43 +373,57 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                robot.intake.setPower(-0.3);
+                spindexer.setIntakePower(-0.3);
 
                 if (ticker == 1) {
                     stamp = getRuntime();
                 }
                 ticker++;
 
-                robot.intake.setPower(0);
+                spindexer.setIntakePower(0);
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
 
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
                 if (getRuntime() - stamp < shootTime) {
 
                     if (getRuntime() - stamp < firstShootTime) {
-                        robot.transferServo.setPosition(transferServo_in);
+                        servos.setTransferPos(transferServo_out);
-                        robot.spin1.setPosition(firstSpindexShootPos);
+                        servos.setSpinPos(firstSpindexShootPos);
-                        robot.spin2.setPosition(1 - firstSpindexShootPos);
                     } else {
-                        robot.transferServo.setPosition(transferServo_in);
+                        servos.setTransferPos(transferServo_in);
                         shooterTicker++;
-                        double prevSpinPos = robot.spin1.getPosition();
+                        double prevSpinPos = servos.getSpinCmdPos();
 
                         if (shootForward) {
-                            robot.spin1.setPosition(prevSpinPos + spindexSpeed);
+                            servos.setSpinPos(prevSpinPos + spindexSpeed);
-                            robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
                         } else {
-                            robot.spin1.setPosition(prevSpinPos - spindexSpeed);
+                            servos.setSpinPos(prevSpinPos - spindexSpeed);
-                            robot.spin2.setPosition(1 - prevSpinPos + spindexSpeed);
                         }
                     }
 
                     return true;
 
                 } else {
-                    robot.transferServo.setPosition(transferServo_out);
+                    servos.setTransferPos(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
 
                     spindexer.resetSpindexer();
                     spindexer.processIntake();
@@ -459,18 +448,17 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 ticker++;
 
                 spindexer.processIntake();
-                robot.intake.setPower(1);
+                spindexer.setIntakePower(1);
 
                 spindexer.ballCounterLight();
                 drive.updatePoseEstimate();
 
                 teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
+
-                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.addData("Full?", spindexer.isFull());
                 TELE.update();
 
-                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
+                return ((System.currentTimeMillis() - stamp) < (intakeTime * 1000)) && !spindexer.isFull();
-
             }
         };
     }
@@ -507,8 +495,7 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 ticker++;
                 motif = turret.detectObelisk();
 
-                robot.turr1.setPosition(turrPos);
+                turret.setTurret(turrPos);
-                robot.turr2.setPosition(1 - turrPos);
 
                 boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
                 boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
@@ -568,8 +555,10 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                 ticker++;
 
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
                 flywheel.manageFlywheel(vel);
-                robot.hood.setPosition(hoodPos);
+                servos.setHoodPos(hoodPos);
 
                 boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
                 boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
@@ -637,8 +626,10 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
                 turret.trackGoal(deltaPose);
 
-                robot.hood.setPosition(targetingSettings.hoodAngle);
+                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;
@@ -706,8 +697,10 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 targetingSettings = targeting.calculateSettings
                         (robotX, robotY, robotHeading, 0.0, false);
 
-                robot.hood.setPosition(targetingSettings.hoodAngle);
+                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;
@@ -728,6 +721,15 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
         };
     }
 
+    // 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;
+
     @Override
     public void runOpMode() throws InterruptedException {
 
@@ -746,37 +748,24 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
         servos = new Servos(hardwareMap);
 
-        robot.limelight.start();
-
-        robot.limelight.pipelineSwitch(1);
-
-
         turret = new Turret(robot, TELE, robot.limelight);
 
-        turret.manualSetTurret(turrDefault);
+        turret.setTurret(turrDefault);
 
         drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
 
-        robot.spin1.setPosition(autoSpinStartPos);
+        servos.setSpinPos(autoSpinStartPos);
-        robot.spin2.setPosition(1 - autoSpinStartPos);
 
-        robot.transferServo.setPosition(transferServo_out);
+        servos.setTransferPos(transferServo_out);
-
-        TrajectoryActionBuilder shoot0 = null;
-        TrajectoryActionBuilder pickup1 = null;
-        TrajectoryActionBuilder shoot1 = null;
-        TrajectoryActionBuilder pickup2 = null;
-        TrajectoryActionBuilder shoot2 = null;
-        TrajectoryActionBuilder pickup3 = null;
-        TrajectoryActionBuilder shoot3 = null;
 
+        limelightUsed = false;
 
         robot.light.setPosition(1);
 
         while (opModeInInit()) {
 
-            robot.hood.setPosition(shoot0Hood);
+            servos.setHoodPos(shoot0Hood);
-            turret.manualSetTurret(turrDefault);
+            turret.setTurret(turrDefault);
 
             if (gamepad2.crossWasPressed()) {
                 redAlliance = !redAlliance;
@@ -790,18 +779,18 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 turrDefault += 0.01;
             }
 
-            redObeliskTurrPos1 = turrDefault + 0.12;
+            if (gamepad2.rightBumperWasPressed()){
-            redObeliskTurrPos2 = turrDefault + 0.13;
+                ballCycles++;
-            redObeliskTurrPos3 = turrDefault + 0.14;
+            }
-
+            if (gamepad2.leftBumperWasPressed()){
-            blueObeliskTurrPos1 = turrDefault - 0.12;
+                ballCycles--;
-            blueObeliskTurrPos2 = turrDefault - 0.13;
+            }
-            blueObeliskTurrPos3 = turrDefault - 0.14;
-
-            redTurretShootPos = turrDefault + 0.12;
-            blueTurretShootPos = turrDefault - 0.14;
-
 
+            if (gamepad2.squareWasPressed()){
+                robot.limelight.start();
+                robot.limelight.pipelineSwitch(1);
+                gamepad2.rumble(500);
+            }
 
             if (redAlliance) {
                 robot.light.setPosition(0.28);
@@ -836,11 +825,14 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 xShoot = rShootX;
                 yShoot = rShootY;
                 hShoot = rShootH;
+                xLeave = rLeaveX;
+                yLeave = rLeaveY;
+                hLeave = rLeaveH;
 
-                obeliskTurrPos1 = redObeliskTurrPos1;
+                obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
-                obeliskTurrPos2 = redObeliskTurrPos2;
+                obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
-                obeliskTurrPos3 = redObeliskTurrPos3;
+                obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
-                turretShootPos = redTurretShootPos;
+                turretShootPos = turrDefault + redTurretShootPos;
 
             } else {
                 robot.light.setPosition(0.6);
@@ -876,44 +868,57 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 xShoot = bShootX;
                 yShoot = bShootY;
                 hShoot = bShootH;
+                xLeave = bLeaveX;
+                yLeave = bLeaveY;
+                hLeave = bLeaveH;
 
-                obeliskTurrPos1 = blueObeliskTurrPos1;
+                obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
-                obeliskTurrPos2 = blueObeliskTurrPos2;
+                obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
-                obeliskTurrPos3 = blueObeliskTurrPos3;
+                obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
-                turretShootPos = blueTurretShootPos;
+                turretShootPos = turrDefault + blueTurretShootPos;
 
             }
 
             shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+                    .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
 
-            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
-                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
+                    .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
-                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
+                    .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
                             new TranslationalVelConstraint(pickup1Speed));
 
-            shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
+            if (ballCycles < 2){
-                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+                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));
+            }
 
-            pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
+            pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
-                    .strafeToLinearHeading(new Vector2d(x3a, y3a), h3a)
+                    .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
-                    .strafeToLinearHeading(new Vector2d(x3b, y3b), h3b,
+                    .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
                             new TranslationalVelConstraint(pickup1Speed));
 
-            shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b))
+            if (ballCycles < 3){
-                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+                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(hLeave));
+            }
 
-            pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+            pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
-                    .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
+                    .strafeToLinearHeading(new Vector2d(x4a, y4a), Math.toRadians(h4a))
-                    .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
+                    .strafeToLinearHeading(new Vector2d(x4b, y4b), Math.toRadians(h4b),
                             new TranslationalVelConstraint(pickup1Speed));
-            shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
+
-                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
+            shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, Math.toRadians(h4b)))
+                    .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
 
             TELE.addData("Red?", redAlliance);
             TELE.addData("Turret Default", turrDefault);
-
+            TELE.addData("Ball Cycles", ballCycles);
-
 
             TELE.update();
         }
@@ -926,6 +931,37 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
             robot.transfer.setPower(1);
 
+            startAuto();
+
+            if (ballCycles > 0){
+                cycleStackClose();
+            }
+
+            if (ballCycles > 1){
+                cycleStackMiddle();
+            }
+
+            if (ballCycles > 2){
+                cycleStackFar();
+            }
+
+            while (opModeIsActive()) {
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                flywheel.manageFlywheel(0);
+
+                TELE.addLine("finished");
+                TELE.update();
+            }
+
+        }
+
+    }
+
+    void startAuto() {
         assert shoot0 != null;
 
         Actions.runBlocking(
@@ -947,7 +983,9 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
         Actions.runBlocking(
                 shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
         );
+    }
 
+    void cycleStackClose(){
         Actions.runBlocking(
                 new ParallelAction(
                         pickup1.build(),
@@ -955,8 +993,8 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                                 shootAllVelocity,
                                 shootAllHood,
                                 intake1Time,
-                                    x2b,
+                                0.501,
-                                    y2b,
+                                0.501,
                                 pickup1XTolerance,
                                 pickup1YTolerance
                         ),
@@ -975,9 +1013,8 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
         motif = turret.getObeliskID();
 
-
         if (motif == 0) motif = 22;
-
+        prevMotif = motif;
 
         Actions.runBlocking(
                 new ParallelAction(
@@ -1009,14 +1046,16 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 )
 
         );
+    }
 
+    void cycleStackMiddle(){
         Actions.runBlocking(
                 new ParallelAction(
                         pickup2.build(),
                         manageShooterAuto(
                                 intake2Time,
-                                    x2b,
+                                0.501,
-                                    y2b,
+                                0.501,
                                 pickup1XTolerance,
                                 pickup1YTolerance
                         ),
@@ -1033,6 +1072,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 )
         );
 
+        motif = turret.getObeliskID();
+
+        if (motif == 0) motif = prevMotif;
+        prevMotif = motif;
+
         Actions.runBlocking(
                 new ParallelAction(
                         manageFlywheelAuto(
@@ -1060,14 +1104,16 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 )
 
         );
+    }
 
+    void cycleStackFar(){
         Actions.runBlocking(
                 new ParallelAction(
                         pickup3.build(),
                         manageShooterAuto(
                                 intake3Time,
-                                    x2b,
+                                0.501,
-                                    y2b,
+                                0.501,
                                 pickup1XTolerance,
                                 pickup1YTolerance
                         ),
@@ -1084,6 +1130,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 )
         );
 
+        motif = turret.getObeliskID();
+
+        if (motif == 0) motif = prevMotif;
+        prevMotif = motif;
+
         Actions.runBlocking(
                 new ParallelAction(
                         manageFlywheelAuto(
@@ -1111,17 +1162,5 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 )
 
         );
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            TELE.addLine("finished");
-            TELE.update();
-
-            sleep(2000);
-
-        }
-
     }
 }

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

@@ -0,0 +1,938 @@
+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.hoodOffset;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
+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 static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
+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.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.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;
+
+import java.util.Objects;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class Auto_LT_Far extends LinearOpMode {
+    public static double shoot0Vel = 3300, shoot0Hood = 0.48 + hoodOffset;
+    public static double autoSpinStartPos = 0.2;
+    public static double shoot0SpinSpeedIncrease = 0.015;
+    public static double shoot0XTolerance = 1.0;
+    public static double redTurretShootPos = 0.05;
+    public static double blueTurretShootPos = -0.05;
+    public static int fwdTime = 200, strafeTime = 2300;
+    double xLeave, yLeave, hLeave;
+    public static int sleepTime = 1300;
+    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;
+    double firstSpindexShootPos = autoSpinStartPos;
+    boolean shootForward = true;
+    double xShoot, yShoot, hShoot;
+    private int driverSlotGreen = 0;
+    private int passengerSlotGreen = 0;
+    int rearSlotGreen = 0;
+    int mostGreenSlot = 0;
+    double pickupGateX = 0, pickupGateY = 0, pickupGateH = 0;
+    double pickupZoneX = 0, pickupZoneY = 0, pickupZoneH = 0;
+    public static double firstShootTime = 0.3;
+    public static double flywheel0Time = 3.5;
+    public static double shoot0Time = 2;
+    boolean gatePickup = false;
+    boolean stack3 = true;
+    double xStackPickupA, yStackPickupA, hStackPickupA;
+    double xStackPickupB, yStackPickupB, hStackPickupB;
+    public static int pickupStackSpeed = 15;
+    int prevMotif = 0;
+
+    public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            double spindexerWiggle = 0.01;
+
+            boolean decideGreenSlot = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+                servos.setTransferPos(transferServo_out);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.addData("motif", motif_id);
+                TELE.update();
+
+                if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
+
+                    spindexerWiggle *= -1.0;
+
+                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
+
+                    spindexer.detectBalls(true, true);
+
+                    if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
+                        driverSlotGreen++;
+                    }
+
+                    if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
+                        passengerSlotGreen++;
+                    }
+
+                    if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
+                        rearSlotGreen++;
+                    }
+
+                    spindexer.setIntakePower(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;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                        }
+                    } else if (motif_id == 22) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = true;
+                        }
+
+                    } else {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                        }
+
+                    }
+
+                    return true;
+                } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
+//                    TELE.addData("MostGreenSlot", mostGreenSlot);
+//                    TELE.update();
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
+
+                    servos.setSpinPos(firstSpindexShootPos);
+
+                    return true;
+                } else {
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    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();
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                spindexer.setIntakePower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
+                if ((getRuntime() - stamp < shootTime && servos.getSpinPos() < spinEndPos) || shooterTicker == 0) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
+                        servos.setSpinPos(autoSpinStartPos);
+                    } else {
+                        servos.setTransferPos(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = servos.getSpinCmdPos();
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+
+                    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();
+
+                spindexer.setIntakePower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                spindexer.setIntakePower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
+                if (getRuntime() - stamp < shootTime) {
+
+                    if (getRuntime() - stamp < firstShootTime) {
+                        servos.setTransferPos(transferServo_out);
+                        servos.setSpinPos(firstSpindexShootPos);
+                    } else {
+                        servos.setTransferPos(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = servos.getSpinCmdPos();
+
+                        if (shootForward) {
+                            servos.setSpinPos(prevSpinPos + spindexSpeed);
+                        } else {
+                            servos.setSpinPos(prevSpinPos - spindexSpeed);
+                        }
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+
+                    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();
+                spindexer.setIntakePower(1);
+
+                spindexer.ballCounterLight();
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                TELE.addData("Full?", spindexer.isFull());
+                TELE.update();
+
+                return ((System.currentTimeMillis() - stamp) < (intakeTime * 1000)) && !spindexer.isFull();
+            }
+        };
+    }
+
+    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();
+                    robot.limelight.pipelineSwitch(1);
+                }
+
+                ticker++;
+                motif = turret.detectObelisk();
+
+                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;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                if (shouldFinish){
+                    if (redAlliance){
+                        robot.limelight.pipelineSwitch(4);
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+                    }
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    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++;
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
+                servos.setHoodPos(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);
+
+                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 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);
+
+                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 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;
+
+            }
+        };
+    }
+
+    // initialize path variables here
+    TrajectoryActionBuilder leave3Ball = null;
+    TrajectoryActionBuilder leaveFromShoot = null;
+    TrajectoryActionBuilder pickup3 = null;
+    TrajectoryActionBuilder shoot3 = 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);
+
+        robot.limelight.start();
+
+        robot.limelight.pipelineSwitch(1);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        turret.setTurret(turrDefault);
+
+        drive = new MecanumDrive(hardwareMap, autoStart);
+
+        servos.setSpinPos(autoSpinStartPos);
+
+        servos.setTransferPos(transferServo_out);
+
+        while (opModeInInit()) {
+
+            // Recalibration in initialization
+            drive.updatePoseEstimate();
+            if (gamepad2.triangle) {
+                autoStart = drive.localizer.getPose(); // use this position as starting position
+                gamepad2.rumble(1000);
+            }
+
+            if (gamepad2.squareWasPressed()){
+                robot.limelight.start();
+                robot.limelight.pipelineSwitch(1);
+                gamepad2.rumble(500);
+            }
+
+            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);
+
+                xLeave = rLeaveX;
+                yLeave = rLeaveY;
+                hLeave = rLeaveH;
+
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+
+                xStackPickupA = rStackPickupAX;
+                yStackPickupA = rStackPickupAY;
+                hStackPickupA = rStackPickupAH;
+
+                xStackPickupB = rStackPickupBX;
+                yStackPickupB = rStackPickupBY;
+                hStackPickupB = rStackPickupBH;
+
+                turretShootPos = turrDefault + redTurretShootPos;
+            } else {
+                robot.light.setPosition(0.6);
+
+                xLeave = bLeaveX;
+                yLeave = bLeaveY;
+                hLeave = bLeaveH;
+
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+
+                xStackPickupA = bStackPickupAX;
+                yStackPickupA = bStackPickupAY;
+                hStackPickupA = bStackPickupAH;
+
+                xStackPickupB = bStackPickupBX;
+                yStackPickupB = bStackPickupBY;
+                hStackPickupB = bStackPickupBH;
+
+                turretShootPos = turrDefault + blueTurretShootPos;
+            }
+
+            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));
+
+            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();
+
+            if (stack3){
+                //cycleStackFar();
+            }
+
+            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);
+
+                TELE.addLine("finished");
+                TELE.update();
+            }
+
+        }
+
+    }
+
+    void startAuto(){
+        Actions.runBlocking(
+                new ParallelAction(
+                        manageFlywheel(
+                                shoot0Vel,
+                                shoot0Hood,
+                                flywheel0Time,
+                                0.501,
+                                0.501,
+                                shoot0XTolerance,
+                                0.501
+                        )
+
+                )
+        );
+
+        Actions.runBlocking(
+                shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
+        );
+    }
+
+    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(),
+//                        manageShooterAuto(
+//                                intake3Time,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        ),
+//                        intake(intake3Time),
+//                        detectObelisk(
+//                                intake3Time,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                obeliskTurrPos3
+//                        )
+//
+//                )
+//        );
+//
+//        motif = turret.getObeliskID();
+//
+//        if (motif == 0) motif = prevMotif;
+//        prevMotif = motif;
+//
+//        Actions.runBlocking(
+//                new ParallelAction(
+//                        manageFlywheelAuto(
+//                                shoot3Time,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        ),
+//                        shoot3.build(),
+//                        prepareShootAll(colorSenseTime, shoot3Time, motif)
+//                )
+//        );
+//
+//        Actions.runBlocking(
+//                new ParallelAction(
+//                        manageShooterAuto(
+//                                finalShootAllTime,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        ),
+//                        shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
+//                )
+//
+//        );
+//    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far_3Ball.java

@@ -1,403 +0,0 @@
-package org.firstinspires.ftc.teamcode.autonomous;
-
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleEnd;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
-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.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.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.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
-@Autonomous(preselectTeleOp = "TeleopV3")
-public class Auto_LT_Far_3Ball extends LinearOpMode {
-    public static double shoot0Vel = 3200, shoot0Hood = 0.5 + hoodOffset;
-    public static double autoSpinStartPos = 0.2;
-    public static double shoot0SpinSpeedIncrease = 0.015;
-
-    public static double redObeliskTurrPos1 = turrDefault + 0.12;
-    public static double redObeliskTurrPos2 = turrDefault + 0.13;
-    public static double redObeliskTurrPos3 = turrDefault + 0.14;
-
-    public static double blueObeliskTurrPos1 = turrDefault - 0.12;
-    public static double blueObeliskTurrPos2 = turrDefault - 0.13;
-    public static double blueObeliskTurrPos3 = turrDefault - 0.14;
-
-    public static double shoot0XTolerance = 1.0;
-    public static double redTurretShootPos = turrDefault;
-    public static double blueTurretShootPos = turrDefault;
-    public static int fwdTime = 200, strafeTime = 2300;
-    public static double rPickupGateX = 1, rPickupGateY = 1, rPickupGateH = 1;
-    public static double rPickupZoneX = 1, rPickupZoneY = 1, rPickupZoneH = 1;
-    public static double rShootX = 1, rShootY = 1, rShootH = 1;
-    public static double bPickupZoneX = 1, bPickupZoneY = 1, bPickupZoneH = 1;
-    public static double bPickupGateX = 1, bPickupGateY = 1, bPickupGateH = 1;
-    public static double bShootX = 1, bShootY = 1, bShootH = 1;
-    public static int sleepTime = 1300;
-    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;
-    private double firstSpindexShootPos = autoSpinStartPos;
-    private boolean shootForward = true;
-    private double xShoot, yShoot, hShoot;
-    private int driverSlotGreen = 0;
-    private int passengerSlotGreen = 0;
-    private int rearSlotGreen = 0;
-    private int mostGreenSlot = 0;
-    private double pickupGateX = 0, pickupGateY = 0, pickupGateH = 0;
-    private double pickupZoneX = 0, pickupZoneY = 0, pickupZoneH = 0;
-
-    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 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);
-
-                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 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;
-
-            }
-        };
-    }
-
-    @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.start();
-
-        robot.limelight.pipelineSwitch(1);
-
-        turret = new Turret(robot, TELE, robot.limelight);
-
-        turret.manualSetTurret(turrDefault);
-
-        drive = new MecanumDrive(hardwareMap, teleEnd);
-
-        robot.spin1.setPosition(autoSpinStartPos);
-        robot.spin2.setPosition(1 - autoSpinStartPos);
-
-        robot.transferServo.setPosition(transferServo_out);
-
-        robot.light.setPosition(1);
-
-        while (opModeInInit()) {
-
-            robot.hood.setPosition(shoot0Hood);
-            turret.manualSetTurret(turretShootPos);
-
-            if (gamepad2.crossWasPressed()) {
-                redAlliance = !redAlliance;
-            }
-
-            if (gamepad2.dpadLeftWasPressed()) {
-                turrDefault -= 0.01;
-            }
-
-            if (gamepad2.dpadRightWasPressed()) {
-                turrDefault += 0.01;
-            }
-
-            redObeliskTurrPos1 = turrDefault + 0.12;
-            redObeliskTurrPos2 = turrDefault + 0.13;
-            redObeliskTurrPos3 = turrDefault + 0.14;
-
-            blueObeliskTurrPos1 = turrDefault - 0.12;
-            blueObeliskTurrPos2 = turrDefault - 0.13;
-            blueObeliskTurrPos3 = turrDefault - 0.14;
-
-            redTurretShootPos = turrDefault + 0.05;
-
-            if (redAlliance) {
-                robot.light.setPosition(0.28);
-
-                pickupGateX = rPickupGateX;
-                pickupGateY = rPickupGateY;
-                pickupGateH = rPickupGateH;
-
-                pickupZoneX = rPickupZoneX;
-                pickupZoneY = rPickupZoneY;
-                pickupZoneH = rPickupZoneH;
-
-                xShoot = rShootX;
-                yShoot = rShootY;
-                hShoot = rShootH;
-
-                turretShootPos = redTurretShootPos;
-
-            } else {
-                robot.light.setPosition(0.6);
-
-                pickupGateX = bPickupGateX;
-                pickupGateY = bPickupGateY;
-                pickupGateH = bPickupGateH;
-
-                pickupZoneX = bPickupZoneX;
-                pickupZoneY = bPickupZoneY;
-                pickupZoneH = bPickupZoneH;
-
-                xShoot = bShootX;
-                yShoot = bShootY;
-                hShoot = bShootH;
-
-                turretShootPos = blueTurretShootPos;
-
-            }
-
-            TELE.addData("Red?", redAlliance);
-            TELE.addData("Turret Default", turrDefault);
-
-            TELE.update();
-        }
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        if (opModeIsActive()) {
-
-            robot.transfer.setPower(1);
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageFlywheel(
-                                    shoot0Vel,
-                                    shoot0Hood,
-                                    9,
-                                    0.501,
-                                    0.501,
-                                    shoot0XTolerance,
-                                    0.501
-                            )
-
-                    )
-            );
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    shootAll((int) shoot0Vel, 6, shoot0SpinSpeedIncrease)
-            );
-
-            robot.frontLeft.setPower(-0.4);
-            robot.frontRight.setPower(-0.4);
-            robot.backLeft.setPower(-0.4);
-            robot.backRight.setPower(-0.4);
-
-            sleep(fwdTime);
-
-            robot.frontLeft.setPower(0);
-            robot.frontRight.setPower(0);
-            robot.backLeft.setPower(0);
-            robot.backRight.setPower(0);
-
-            sleep(sleepTime);
-
-            robot.frontLeft.setPower(-0.4);
-            robot.frontRight.setPower(0.4);
-            robot.backLeft.setPower(0.4);
-            robot.backRight.setPower(-0.4);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            sleep(strafeTime);
-
-            robot.frontLeft.setPower(0);
-            robot.frontRight.setPower(0);
-            robot.backLeft.setPower(0);
-            robot.backRight.setPower(0);
-
-            while (opModeIsActive()) {
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                TELE.addLine("finished");
-                TELE.update();
-            }
-
-        }
-
-    }
-}

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

@@ -0,0 +1,648 @@
+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.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_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 static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Pose2d;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Drivetrain;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+import java.util.Objects;
+
+public class Actions{
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servos;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    Turret turret;
+    private int driverSlotGreen = 0;
+    private int passengerSlotGreen = 0;
+    private int rearSlotGreen = 0;
+    private int mostGreenSlot = 0;
+    private double firstSpindexShootPos = spinStartPos;
+    private boolean shootForward = true;
+    public static double firstShootTime = 0.3;
+    public int motif = 0;
+
+    public Actions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur){
+        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;
+    }
+    public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            double spindexerWiggle = 0.01;
+
+            boolean decideGreenSlot = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+                servos.setTransferPos(transferServo_out);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.addData("motif", motif_id);
+                TELE.update();
+
+                if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
+
+                    spindexerWiggle *= -1.0;
+
+                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
+
+                    spindexer.detectBalls(true, true);
+
+                    if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
+                        driverSlotGreen++;
+                    }
+
+                    if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
+                        passengerSlotGreen++;
+                    }
+
+                    if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
+                        rearSlotGreen++;
+                    }
+
+                    spindexer.setIntakePower(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;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                        }
+                    } else if (motif_id == 22) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = true;
+                        }
+
+                    } else {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                        }
+
+                    }
+
+                    return true;
+                } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
+//                    TELE.addData("MostGreenSlot", mostGreenSlot);
+//                    TELE.update();
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
+
+                    servos.setSpinPos(firstSpindexShootPos);
+
+                    return true;
+                } else {
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    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();
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
+                velo = flywheel.getVelo();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                spindexer.setIntakePower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
+                if ((System.currentTimeMillis() - stamp < shootTime && servos.getSpinPos() < spinEndPos) || shooterTicker == 0) {
+
+                    if (shooterTicker == 0 && !servos.spinEqual(spinStartPos)) {
+                        servos.setSpinPos(spinStartPos);
+                    } else {
+                        servos.setTransferPos(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = servos.getSpinCmdPos();
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+
+                    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();
+
+                spindexer.setIntakePower(-0.3);
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                spindexer.setIntakePower(0);
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                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);
+
+                targetingSettings = targeting.calculateSettings
+                        (robX, robY, robotHeading, 0.0, turretInterpolate);
+
+                turret.trackGoal(deltaPose);
+
+                if (System.currentTimeMillis() - stamp < shootTime) {
+
+                    if (System.currentTimeMillis() - stamp < firstShootTime) {
+                        servos.setTransferPos(transferServo_out);
+                        servos.setSpinPos(firstSpindexShootPos);
+                    } else {
+                        servos.setTransferPos(transferServo_in);
+                        shooterTicker++;
+                        double prevSpinPos = servos.getSpinCmdPos();
+
+                        if (shootForward) {
+                            servos.setSpinPos(prevSpinPos + spindexSpeed);
+                        } else {
+                            servos.setSpinPos(prevSpinPos - spindexSpeed);
+                        }
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+
+                    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();
+                spindexer.setIntakePower(1);
+
+                spindexer.ballCounterLight();
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                TELE.addData("Full?", spindexer.isFull());
+                TELE.update();
+
+                return ((System.currentTimeMillis() - stamp) < (intakeTime * 1000)) && !spindexer.isFull();
+            }
+        };
+    }
+
+    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();
+                    robot.limelight.pipelineSwitch(1);
+                }
+
+                ticker++;
+                motif = turret.detectObelisk();
+
+                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;
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+                TELE.addData("Velocity", flywheel.getVelo());
+                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.update();
+
+                if (shouldFinish){
+                    if (redAlliance){
+                        robot.limelight.pipelineSwitch(4);
+                    } else {
+                        robot.limelight.pipelineSwitch(2);
+                    }
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    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++;
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
+                servos.setHoodPos(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);
+
+                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 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);
+
+                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 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;
+
+            }
+        };
+    }
+}
+
+

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

@@ -1,61 +1,61 @@
-package org.firstinspires.ftc.teamcode.autonomous;
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootH;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+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;
 
@@ -76,7 +76,6 @@ import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
-import org.firstinspires.ftc.teamcode.constants.Poses_V2;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -170,7 +169,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
 
                 robot.transferServo.setPosition(transferServo_out);
 
-                turret.manualSetTurret(turretShootPos);
+                turret.setTurret(turretShootPos);
 
                 robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
                 drive.updatePoseEstimate();
@@ -612,7 +611,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
 
         turret = new Turret(robot, TELE, robot.limelight);
 
-        turret.manualSetTurret(0.4);
+        turret.setTurret(0.4);
 
         drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
 

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

@@ -1,61 +1,61 @@
-package org.firstinspires.ftc.teamcode.autonomous;
+package org.firstinspires.ftc.teamcode.autonomous.disabled;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootH;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3aG;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3aG;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3aG;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.byPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3aG;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3aG;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3aG;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ryPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
 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;
@@ -78,6 +78,7 @@ import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.constants.Poses_V2;
@@ -91,6 +92,7 @@ import org.firstinspires.ftc.teamcode.utils.Turret;
 
 import java.util.Objects;
 
+@Disabled
 @Config
 @Autonomous(preselectTeleOp = "TeleopV3")
 public class Auto_LT_Close_GateOpen extends LinearOpMode {
@@ -205,7 +207,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
                 ticker++;
                 robot.transferServo.setPosition(transferServo_out);
 
-                turret.manualSetTurret(turretShootPos);
+                turret.setTurret(turretShootPos);
 
                 drive.updatePoseEstimate();
 
@@ -750,7 +752,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
 
         turret = new Turret(robot, TELE, robot.limelight);
 
-        turret.manualSetTurret(0.4);
+        turret.setTurret(0.4);
 
         drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
 

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

@@ -1,49 +1,49 @@
 package org.firstinspires.ftc.teamcode.autonomous.disabled;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+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;

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

@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Back_Poses {
+    public static double rLeaveX = 90, rLeaveY = 80, rLeaveH = 50.1;
+    public static double bLeaveX = 90, bLeaveY = -80, bLeaveH = -50;
+
+    public static double rShootX = 95, rShootY = 85, rShootH = 90;
+    public static double bShootX = 95, bShootY = -85, bShootH = -90;
+
+    public static double rStackPickupAX = 75, rStackPickupAY = 53, rStackPickupAH = 140;
+    public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;
+
+    public static double rStackPickupBX = 50, rStackPickupBY = 78, rStackPickupBH = 140.1;
+    public static double bStackPickupBX = 50, bStackPickupBY = -78, bStackPickupBH = -140.1;
+
+    public static Pose2d autoStart = new Pose2d(0, 0, 0); // TODO: find this position
+
+
+}

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

@@ -0,0 +1,46 @@
+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 = 23, ry2b = 36, rh2b = 140.1;
+    public static double bx2b = 19, by2b = -40, 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 = 55, by3aG = -43, bh3aG = -140;
+
+    public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
+    public static double bx3b = 41, by3b = -59, 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 = 47, by4b = -85, 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 = 0, 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 = 50;
+    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -50;
+
+    public static Pose2d teleStart = new Pose2d(0, 0, 0);
+}

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

@@ -1,49 +0,0 @@
-package org.firstinspires.ftc.teamcode.constants;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.Pose2d;
-
-@Config
-public class Poses {
-
-
-    public static double rx1 = 20, ry1 = 0.5, rh1 = Math.toRadians(0.1);
-    public static double rx2a = 41, ry2a = 18, rh2a = Math.toRadians(140);
-    public static double rx2b = 19, ry2b = 40, rh2b = Math.toRadians(140.1);
-
-
-    public static double rx3a = 55, ry3a = 39, rh3a = Math.toRadians(140);
-
-    public static double rx3aG = 60, ry3aG = 34, rh3aG = Math.toRadians(140);
-
-    public static double rx3b = 36, ry3b = 58, rh3b = Math.toRadians(140.1);
-
-    public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
-    public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
-
-    public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
-    public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
-    public static double bx2b = 19, by2b = -40, bh2b = Math.toRadians(-140.1);
-
-    public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
-    public static double bx3b = 41, by3b = -59, bh3b = Math.toRadians(-140.1);
-    public static double bx3aG = 55, by3aG = -43, bh3aG = Math.toRadians(-140);
-
-
-    public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
-    public static double bx4b = 47, by4b = -85, bh4b = Math.toRadians(-140.1);
-    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
-
-    public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
-    public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
-
-    public static double bShootX = 40, bShootY = 7, bShootH = Math.toRadians(-50);
-    public static double bxPrep = 45, byPrep = -10, bhPrep = Math.toRadians(-50);
-
-
-    public static Pose2d teleStart = new Pose2d(0, 0, 0);
-
-    public static Pose2d teleEnd = new Pose2d(0, 0, 0);
-
-
-}

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

@@ -1,7 +1,9 @@
 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 {
 

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

@@ -32,4 +32,14 @@ public class ServoPositions {
     public static double turret_redClose = 0.42;
     public static double turret_blueClose = 0.38;
 
+    // These values are ADDED to turrDefault
+    public static double redObeliskTurrPos1 = 0.12;
+    public static double redObeliskTurrPos2 = 0.13;
+    public static double redObeliskTurrPos3 = 0.14;
+    public static double blueObeliskTurrPos1 = -0.12;
+    public static double blueObeliskTurrPos2 = -0.13;
+    public static double blueObeliskTurrPos3 = -0.14;
+    public static double redTurretShootPos = 0.1;
+    public static double blueTurretShootPos = -0.14;
+
 }

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

@@ -1,7 +1,9 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
+@Disabled
 @Config
 public class ShooterVars {
 

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

@@ -1,10 +1,10 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleEnd;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 
 import com.acmerobotics.dashboard.FtcDashboard;
@@ -22,6 +22,7 @@ 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;
@@ -58,6 +59,7 @@ public class TeleopV3 extends LinearOpMode {
     Targeting targeting;
     Targeting.Settings targetingSettings;
     Drivetrain drivetrain;
+    MeasuringLoopTimes loopTimes;
     double autoHoodOffset = 0.0;
     int shooterTicker = 0;
     boolean intake = false;
@@ -73,8 +75,6 @@ public class TeleopV3 extends LinearOpMode {
     boolean overrideTurr = false;
 
     int intakeTicker = 0;
-
-    boolean turretInterpolate = false;
     private boolean shootAll = false;
 
     @Override
@@ -97,6 +97,9 @@ public class TeleopV3 extends LinearOpMode {
 
         drivetrain = new Drivetrain(robot, drive);
 
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+
         PIDFController tController = new PIDFController(tp, ti, td, tf);
 
         tController.setTolerance(0.001);
@@ -107,6 +110,9 @@ public class TeleopV3 extends LinearOpMode {
         light.init(robot.light, spindexer, turret);
 
         light.setState(StateEnums.LightState.MANUAL);
+        limelightUsed = true;
+
+        robot.light.setPosition(1);
         while (opModeInInit()) {
             robot.limelight.start();
             if (redAlliance) {
@@ -126,7 +132,8 @@ public class TeleopV3 extends LinearOpMode {
         waitForStart();
         if (isStopRequested()) return;
 
-        robot.transferServo.setPosition(transferServo_out);
+        servo.setTransferPos(transferServo_out);
+        robot.transfer.setPower(1);
 
         while (opModeIsActive()) {
 
@@ -144,7 +151,7 @@ public class TeleopV3 extends LinearOpMode {
             if (gamepad1.right_bumper) {
 
                 shootAll = false;
-                robot.transferServo.setPosition(transferServo_out);
+                servo.setTransferPos(transferServo_out);
 
                 light.setState(StateEnums.LightState.BALL_COUNT);
 
@@ -155,9 +162,7 @@ public class TeleopV3 extends LinearOpMode {
                 light.setState(StateEnums.LightState.GOAL_LOCK);
             }
 
-            robot.transfer.setPower(1);
+            //TURRET TRACKING
-
-            double offset;
 
             double robX = drive.localizer.getPose().position.x;
             double robY = drive.localizer.getPose().position.y;
@@ -204,14 +209,16 @@ public class TeleopV3 extends LinearOpMode {
             }
 
             //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) {
-                robot.hood.setPosition(targetingSettings.hoodAngle + autoHoodOffset);
+                servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
             } else {
-                robot.hood.setPosition(hoodDefaultPos);
+                servo.setHoodPos(hoodDefaultPos);
             }
 
             if (gamepad2.dpadUpWasPressed()) {
@@ -243,6 +250,8 @@ public class TeleopV3 extends LinearOpMode {
                 drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
             }
 
+
+
             if (enableSpindexerManager) {
                 //if (!shootAll) {
                 spindexer.processIntake();
@@ -250,13 +259,12 @@ public class TeleopV3 extends LinearOpMode {
 
                 // RIGHT_BUMPER
                 if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
-                    robot.intake.setPower(1);
+                    spindexer.setIntakePower(1);
                 } else if (gamepad1.cross) {
-                    robot.intake.setPower(-1);
+                    spindexer.setIntakePower(-1);
 
                 } else {
-                    robot.intake.setPower(0);
+                    spindexer.setIntakePower(0);
-
                 }
 
                 // LEFT_BUMPER
@@ -277,14 +285,14 @@ public class TeleopV3 extends LinearOpMode {
                         spindexer.prepareShootAllContinous();
                         //TELE.addLine("preparing to shoot");
 //                    } else if (shooterTicker == 2) {
-//                        //robot.transferServo.setPosition(transferServo_in);
+//                        //servo.setTransferPos(transferServo_in);
 //                        spindexer.shootAll();
 //                        TELE.addLine("starting to shoot");
                     } else if (!spindexer.shootAllComplete()) {
-                        robot.transferServo.setPosition(transferServo_in);
+                        servo.setTransferPos(transferServo_in);
                         //TELE.addLine("shoot");
                     } else {
-                        robot.transferServo.setPosition(transferServo_out);
+                        servo.setTransferPos(transferServo_out);
                         //spindexPos = spindexer_intakePos1;
                         shootAll = false;
                         spindexer.resetSpindexer();
@@ -296,28 +304,20 @@ public class TeleopV3 extends LinearOpMode {
                 }
 
                 if (gamepad1.left_stick_button) {
-                    robot.transferServo.setPosition(transferServo_out);
+                    servo.setTransferPos(transferServo_out);
                     //spindexPos = spindexer_intakePos1;
-
                     shootAll = false;
                     spindexer.resetSpindexer();
                 }
             }
 
-            if (gamepad2.square) {
-                drive.updatePoseEstimate();
-
-                teleEnd = drive.localizer.getPose();
-                gamepad2.rumble(1000);
-
-            }
-
             //EXTRA STUFFINESS:
             drive.updatePoseEstimate();
 
             for (LynxModule hub : allHubs) {
                 hub.clearBulkCache();
             }
+            loopTimes.loop();
 //
 //            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
 //            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
@@ -341,7 +341,7 @@ public class TeleopV3 extends LinearOpMode {
 //            TELE.addData("spinTestCounter", spindexer.counter);
 //            TELE.addData("autoSpintake", autoSpintake);
 //
-            TELE.addData("shootall commanded", shootAll);
+//            TELE.addData("shootall commanded", shootAll);
             // Targeting Debug
             TELE.addData("robotX", robotX);
             TELE.addData("robotY", robotY);
@@ -353,6 +353,10 @@ public class TeleopV3 extends LinearOpMode {
             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.update();
 

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

@@ -60,7 +60,7 @@ public class LimelightTest extends LinearOpMode {
 
             if (turretMode){
                 if (turretPos != 0.501){
-                    turret.manualSetTurret(turretPos);
+                    turret.setTurret(turretPos);
                 }
             }
 

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

@@ -1,23 +1,30 @@
 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.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
@@ -26,22 +33,23 @@ public class ShooterTest extends LinearOpMode {
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
 
-    //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
     public static double Velocity = 0.0;
     public static double P = 255.0;
     public static double I = 0.0;
     public static double D = 0.0;
-    public static double F = 7.5;
+    public static double F = 90;
     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;
 
@@ -51,6 +59,7 @@ public class ShooterTest extends LinearOpMode {
     public double hoodAdjust = 0.0;
     public static double hoodAdjustFactor = 1.0;
     private int shooterTicker = 0;
+    public static double spinSpeed = 0.02;
     Spindexer spindexer ;
 
     @Override
@@ -62,22 +71,58 @@ public class ShooterTest extends LinearOpMode {
         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) {
-                flywheel.setPIDF(P, I, D, F);
+                flywheel.setPIDF(P, I, D, F / voltage);
                 flywheel.manageFlywheel((int) Velocity);
             }
 
@@ -109,7 +154,6 @@ public class ShooterTest extends LinearOpMode {
                 //intake = false;
                 //reject = false;
 
-                // TODO: Change starting position based on desired order to shoot green ball
                 //spindexPos = spindexer_intakePos1;
                 if (getRuntime() - shootStamp < 3.5) {
 
@@ -120,8 +164,11 @@ public class ShooterTest extends LinearOpMode {
                         robot.transferServo.setPosition(transferServo_in);
                         shooterTicker++;
                         double prevSpinPos = robot.spin1.getPosition();
-                        robot.spin1.setPosition(prevSpinPos + spinSpeedIncrease);
+
-                        robot.spin2.setPosition(1 - prevSpinPos - spinSpeedIncrease);
+                        if (prevSpinPos < 0.9){
+                            robot.spin1.setPosition(prevSpinPos + spinSpeed);
+                            robot.spin2.setPosition(1 - prevSpinPos - spinSpeed);
+                        }
                     }
 
 
@@ -150,6 +197,7 @@ public class ShooterTest extends LinearOpMode {
             TELE.addData("Power", robot.shooter1.getPower());
             TELE.addData("Steady?", flywheel.getSteady());
             TELE.addData("Position", robot.shooter1.getCurrentPosition());
+            TELE.addData("Voltage", voltage);
 
             TELE.update();
 

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

@@ -12,6 +12,7 @@ public class Flywheel {
     public double velo1 = 0.0;
     public double velo2 = 0.0;
     double targetVelocity = 0.0;
+    double previousTargetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
@@ -37,6 +38,8 @@ public class Flywheel {
     }
 
     // Set the robot PIDF for the next cycle.
+    private double prevF = 0.501;
+    public static int voltagePIDFDifference = 5;
     public void setPIDF(double p, double i, double d, double f) {
         shooterPIDF1.p = p;
         shooterPIDF1.i = i;
@@ -46,6 +49,10 @@ public class Flywheel {
         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);
+        }
     }
 
     // Convert from RPM to Ticks per Second
@@ -55,12 +62,12 @@ public class Flywheel {
     private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
 
     public double 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.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+            //robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
-        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
             robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
             robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
 
@@ -69,6 +76,7 @@ public class Flywheel {
             velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
             velo = Math.max(velo1, velo2);
 
+        }
         // really should be a running average of the last 5
         steady = (Math.abs(targetVelocity - velo) < 200.0);
 

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;
+    private double mainLoopTime = 0.0;
+
+    private double MeasurementStart = 0.0;
+    private 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

@@ -35,7 +35,7 @@ public class PositionalServoProgrammer extends LinearOpMode {
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
-            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos)){
+            if (spindexPos != 0.501){
                 robot.spin1.setPosition(spindexPos);
                 robot.spin2.setPosition(1-spindexPos);
             }
@@ -52,16 +52,6 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (light !=0.501){
                 robot.light.setPosition(light);
             }
-            // To check configuration of spindexer:
-            // Set "mode" to 1 and spindexPow to 0.1
-            // If the spindexer is turning clockwise, the servos are reversed. Swap the configuration of the two servos, DO NOT TOUCH THE ACTUAL CODE
-            // Do the previous test again to confirm
-            // Set "mode" to 0 but keep spindexPos at 0.501
-            // Manually turn the spindexer until "spindexer pos" is set close to 0
-            // Check each spindexer voltage:
-                // If "spindexer voltage 1" is closer to 0 than "spindexer voltage 2," then you are done!
-                // If "spindexer voltage 2" is closer to 0 than "spindexer voltage 1," swap the two spindexer analog inputs in the configuration, DO NOT TOUCH THE ACTUAL CODE
-            //TODO: @KeshavAnandCode do the above please
 
             TELE.addData("spindexer pos", servo.getSpinPos());
             TELE.addData("turret pos", robot.turr1.getPosition());

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

@@ -12,6 +12,7 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
@@ -33,7 +34,7 @@ public class Robot {
     public double shooterPIDF_P = 255.0;
     public double shooterPIDF_I = 0.0;
     public double shooterPIDF_D = 0.0;
-    public double shooterPIDF_F = 7.5;
+    public double shooterPIDF_F = 90;
     public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
@@ -56,11 +57,11 @@ public class Robot {
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
     public Servo light;
+    public VoltageSensor voltage;
 
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
-        //TODO: fix the configuration of these - I trust you to figure it out yourself @KeshavAnandCode
         frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
         frontRight = hardwareMap.get(DcMotorEx.class, "fr");
         backLeft = hardwareMap.get(DcMotorEx.class, "bl");
@@ -78,7 +79,7 @@ public class Robot {
         shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
 
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
-        //TODO: figure out which shooter motor is reversed using ShooterTest and change it in code @KeshavAnandCode
+
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
         shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
         shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
@@ -96,7 +97,6 @@ public class Robot {
 
         turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
 
-        //TODO: check spindexer configuration (both servo and analog input) - check comments in PositionalServoProgrammer
         spin1 = hardwareMap.get(Servo.class, "spin2");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
@@ -128,5 +128,6 @@ public class Robot {
         }
 
         light = hardwareMap.get(Servo.class, "light");
+        voltage = hardwareMap.voltageSensor.iterator().next();
     }
 }

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

@@ -18,6 +18,15 @@ public class Servos {
     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);
@@ -32,8 +41,42 @@ public class Servos {
         return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
     }
 
-    public double setSpinPos(double pos) {
+    public double getSpinCmdPos() {
+        return prevSpinPos;
+    }
 
+    public static boolean servoPosEqual(double pos1, double pos2) {
+        return (Math.abs(pos1 - pos2) < 0.005);
+    }
+
+    public double setTransferPos(double pos) {
+        if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
+            robot.transferServo.setPosition(pos);
+            firstTransferPos = false;
+        }
+
+        prevTransferPos = pos;
+        return 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 double setHoodPos(double pos){
+        if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
+            robot.hood.setPosition(pos);
+            firstHoodPos = false;
+        }
+
+        prevHoodPos = pos;
         return pos;
     }
 

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

@@ -1,13 +1,12 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.Color.Light0;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import static org.firstinspires.ftc.teamcode.constants.Color.Light1;
+import com.arcrobotics.ftclib.controller.PIDFController;
-import static org.firstinspires.ftc.teamcode.constants.Color.Light2;
+import com.qualcomm.robotcore.hardware.HardwareMap;
-import static org.firstinspires.ftc.teamcode.constants.Color.Light3;
+import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
-import static org.firstinspires.ftc.teamcode.constants.Color.LightGreen;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
-import static org.firstinspires.ftc.teamcode.constants.Color.LightOrange;
+
-import static org.firstinspires.ftc.teamcode.constants.Color.LightPurple;
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
-import static org.firstinspires.ftc.teamcode.constants.Color.colorFilterAlpha;
 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;
@@ -22,10 +21,6 @@ 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 com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.arcrobotics.ftclib.controller.PIDFController;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.constants.StateEnums;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
@@ -34,39 +29,84 @@ import java.util.Objects;
 
 public class Spindexer {
 
-    // Array of commandedIntakePositions with contents
-    // {RearCenter, FrontDriver, FrontPassenger}
-    static final int[][] RotatedBallPositions = {{0, 2, 1}, {1, 0, 2}, {2, 1, 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;
-    public double spindexerPosOffset = 0.00;
-    public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
-    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
-    public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
-    public int unknownColorDetect = 0;
-    public int counter = 0;
     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;
-    int shootWaitCount = 0;
+
-    BallPosition[] ballPositions = new BallPosition[3];
+    public int commandedIntakePosition = 0;
-    double[] outakePositions =
+
-            {spindexer_outtakeBall1 + spindexerPosOffset,
+    public double distanceRearCenter = 0.0;
-                    spindexer_outtakeBall2 + spindexerPosOffset,
+    public double distanceFrontDriver = 0.0;
-                    spindexer_outtakeBall3 + spindexerPosOffset};
+    public double distanceFrontPassenger = 0.0;
-    double[] intakePositions =
+
-            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
+    public double spindexerWiggle = 0.01;
+
+    public double spindexerOuttakeWiggle = 0.01;
     private double prevPos = 0.0;
-    private double intakeTicker = 0;
+    public double spindexerPosOffset = 0.00;
+    public static int shootWaitMax = 4;
+    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);
@@ -80,11 +120,34 @@ public class Spindexer {
         ballPositions[1] = new BallPosition();
         ballPositions[2] = new BallPosition();
 
+
     }
 
-    public boolean init() {
+
-        return true;
+    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;
@@ -126,11 +189,9 @@ public class Spindexer {
 
             if (detectRearColor) {
                 // Detect which color
-                double green = robot.color1.getNormalizedColors().green;
+                NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
-                double red = robot.color1.getNormalizedColors().red;
-                double blue = robot.color1.getNormalizedColors().blue;
 
-                double gP = green / (green + red + blue);
+                double gP = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
 
                 // FIXIT - Add filtering to improve accuracy.
                 if (gP >= 0.38) {
@@ -147,11 +208,9 @@ public class Spindexer {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
             if (detectFrontColor) {
-                double green = robot.color2.getNormalizedColors().green;
+                NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
-                double red = robot.color2.getNormalizedColors().red;
-                double blue = robot.color2.getNormalizedColors().blue;
 
-                double gP = green / (green + red + blue);
+                double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
 
                 if (gP >= 0.4) {
                     ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
@@ -176,11 +235,9 @@ public class Spindexer {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
             if (detectFrontColor) {
-                double green = robot.color3.getNormalizedColors().green;
+                NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
-                double red = robot.color3.getNormalizedColors().red;
-                double blue = robot.color3.getNormalizedColors().blue;
 
-                double gP = green / (green + red + blue);
+                double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
 
                 if (gP >= 0.42) {
                     ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
@@ -209,11 +266,9 @@ public class Spindexer {
 
         return newPos1Detection;
     }
-
     // Has code to unjam spindexer
     private void moveSpindexerToPos(double pos) {
-        robot.spin1.setPosition(pos);
+        servos.setSpinPos(pos);
-        robot.spin2.setPosition(1 - pos);
 //        double currentPos = servos.getSpinPos();
 //        if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
 //            if (currentPos > pos){
@@ -224,24 +279,9 @@ public class Spindexer {
 //                robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
 //            }
 //        }
-//        prevPos = currentPos;
+//        prevPos = pos;
     }
 
-//    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 stopSpindexer() {
 
     }
@@ -302,6 +342,9 @@ public class Spindexer {
         }
     }
 
+
+
+
     public boolean slotIsEmpty(int slot){
         return !ballPositions[slot].isEmpty;
     }
@@ -310,13 +353,14 @@ public class Spindexer {
         return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
     }
 
+    private double intakeTicker = 0;
     public boolean processIntake() {
 
         switch (currentIntakeState) {
             case UNKNOWN_START:
                 // For now just set position ONE if UNKNOWN
                 commandedIntakePosition = 0;
-                moveSpindexerToPos(intakePositions[0]);
+                servos.setSpinPos(intakePositions[0]);
                 currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
                 break;
             case UNKNOWN_MOVE:
@@ -327,7 +371,7 @@ public class Spindexer {
                     unknownColorDetect = 0;
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 }
                 break;
             case UNKNOWN_DETECT:
@@ -346,7 +390,7 @@ public class Spindexer {
                 } else {
                     // Maintain Position
                     spindexerWiggle *= -1.0;
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition] + spindexerWiggle);
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 }
                 break;
             case FINDNEXT:
@@ -378,7 +422,7 @@ public class Spindexer {
                     //commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 break;
 
             case MOVING:
@@ -394,7 +438,7 @@ public class Spindexer {
                     //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 }
                 break;
 
@@ -407,7 +451,7 @@ public class Spindexer {
                 }
                 // Maintain Position
                 spindexerWiggle *= -1.0;
-                moveSpindexerToPos(intakePositions[commandedIntakePosition] + spindexerWiggle);
+                servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 break;
 
             case SHOOT_ALL_PREP:
@@ -416,7 +460,7 @@ public class Spindexer {
                 commandedIntakePosition = 0;
                 if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
+                    servos.setSpinPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
                 }
                 break;
 
@@ -428,7 +472,7 @@ public class Spindexer {
                     currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
                 }
                 // Maintain Position
-                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                servos.setSpinPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTNEXT:
@@ -449,7 +493,7 @@ public class Spindexer {
                     // Empty return to intake state
                     currentIntakeState = IntakeState.FINDNEXT;
                 }
-                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                servos.setSpinPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTMOVING:
@@ -458,12 +502,11 @@ public class Spindexer {
                     currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
                 }
                 break;
 
             case SHOOTWAIT:
-                double shootWaitMax = 4;
                 // Stopping when we get to the new position
                 if (prevIntakeState != currentIntakeState) {
                     if (commandedIntakePosition==2) {
@@ -483,14 +526,14 @@ public class Spindexer {
                 }
                 // Keep moving the spindexer
                 spindexerOuttakeWiggle *= -1.0;
-                moveSpindexerToPos(outakePositions[commandedIntakePosition] + spindexerOuttakeWiggle);
+                servos.setSpinPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
                 break;
 
             case SHOOT_PREP_CONTINOUS:
                 if (servos.spinEqual(spinStartPos)){
                     currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
                 } else {
-                    moveSpindexerToPos(spinStartPos);
+                    servos.setSpinPos(spinStartPos);
                 }
                 break;
 
@@ -501,11 +544,11 @@ public class Spindexer {
                 if (servos.getSpinPos() > spinEndPos){
                     currentIntakeState = IntakeState.FINDNEXT;
                 } else {
-                    double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
+                    double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
                     if (spinPos > spinEndPos + 0.03){
                         spinPos = spinEndPos + 0.03;
                     }
-                    moveSpindexerToPos(spinPos);
+                    servos.setSpinPos(spinPos);
                 }
                 break;
 
@@ -568,18 +611,15 @@ public class Spindexer {
     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;
@@ -587,7 +627,8 @@ public class Spindexer {
         currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
     }
 
-    public boolean shootAllComplete() {
+    public boolean shootAllComplete ()
+    {
         return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
                 (currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
                 (currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
@@ -601,7 +642,8 @@ public class Spindexer {
         currentIntakeState = Spindexer.IntakeState.FINDNEXT;
     }
 
-    public void update() {
+    public void update()
+    {
     }
 
     public BallColor GetFrontDriverColor () {
@@ -615,46 +657,11 @@ public class Spindexer {
     public BallColor GetRearCenterColor () {
         return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
     }
-
+    private double prevPow = 0.501;
-    // For Use
+    public void setIntakePower(double pow){
-    enum RotatedBallPositionNames {
+        if (prevPow != 0.501 && prevPow != pow){
-        REARCENTER,
+            robot.intake.setPower(pow);
-        FRONTDRIVER,
-        FRONTPASSENGER
         }
-
+        prevPow = pow;
-    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
-    }
-
-    public enum BallColor {
-        UNKNOWN,
-        GREEN,
-        PURPLE
-    }
-
-    class spindexerBallRoatation {
-        int rearCenter = 0; // aka commanded Position
-        int frontDriver = 0;
-        int frontPassenger = 0;
-    }
-
-    class BallPosition {
-        boolean isEmpty = true;
-        int foundEmpty = 0;
-        BallColor ballColor = BallColor.UNKNOWN;
     }
 }

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

@@ -77,6 +77,7 @@ public class Targeting {
     double cancelOffsetY = 0.0;  // was 7.0
     double unitConversionFactor = 0.95;
     int tileSize = 24; //inches
+    public static boolean turretInterpolate = false;
 
     public Targeting() {
     }

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

@@ -10,6 +10,7 @@ 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 com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.teamcode.constants.Color;
@@ -37,7 +38,8 @@ public class Turret {
     // TODO: tune these values for limelight
 
     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 = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
+    public static double B_PID_P = 0.066, B_PID_I = 0.0, B_PID_D = 0.007;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
@@ -56,6 +58,9 @@ public class Turret {
     private double permanentOffset = 0.0;
     private PIDController bearingPID;
 
+    private double prevTurretPos = 0.0;
+    private boolean firstTurretPos = true;
+
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;
@@ -76,11 +81,14 @@ public class Turret {
         return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
 
     }
-
+    private double prevTurrPos = 0.501;
-    public void manualSetTurret(double pos) {
+    public void setTurret(double pos) {
+        if (prevTurrPos != 0.501 && prevTurrPos != pos){
             robot.turr1.setPosition(pos);
             robot.turr2.setPosition(1-pos);
         }
+        prevTurrPos = pos;
+    }
 
     public boolean turretEqual(double pos) {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
@@ -284,8 +292,7 @@ public class Turret {
         }
 
         // Set servo positions
-        robot.turr1.setPosition(turretPos + manualOffset);
+        setTurret(turretPos + manualOffset);
-        robot.turr2.setPosition(1.0 - turretPos - manualOffset);
 
 
         /* ---------------- TELEMETRY ---------------- */

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:Inspection:11.1.0'
-    implementation 'org.firstinspires.ftc:Blocks:11.0.0'
+    implementation 'org.firstinspires.ftc:Blocks:11.1.0'
-    implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
+    //noinspection Aligned16KB
-    implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
+    implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
+    implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
-    implementation 'org.firstinspires.ftc:Hardware:11.0.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
+    implementation 'org.firstinspires.ftc:Hardware:11.1.0'
-    implementation 'org.firstinspires.ftc:Vision:11.0.0'
+    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:2.0.6' //PedroCore
-    implementation 'com.pedropathing:ftc:2.0.1' //PedroCore
+    implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
-    implementation 'com.pedropathing:telemetry:0.0.6' //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:0.5.1" //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
 
 
-
-
-
-
-
-
 }