test commit 3

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

.slothLoad/SlothLoad.run.xml

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

.teamCodeRun/TeamCode.run.xml

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

FtcRobotController/src/main/AndroidManifest.xml

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

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

@@ -92,7 +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 "com.acmerobotics.roadrunner:core:1.0.1"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
-    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
+    implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
     implementation 'org.ftclib.ftclib:core:2.1.1' // core
+    implementation("com.acmerobotics.roadrunner:ftc:0.1.25") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+    implementation("com.acmerobotics.roadrunner:actions:1.0.1") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+    implementation("com.acmerobotics.roadrunner:core:1.0.1") {
+        exclude group: "com.acmerobotics.dashboard"
+    }
+
+    implementation("com.acmerobotics.slothboard:dashboard:0.2.4+0.5.1") //Slothdashboard
+
 
 }
+

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

@@ -0,0 +1,812 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.blueObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos0;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.redObeliskTurrPos3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TranslationalVelConstraint;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.acmerobotics.roadrunner.ftc.PinpointIMU;
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class Auto_LT_Close extends LinearOpMode {
+    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
+    public static double velGate0Start = 2700, hoodGate0Start = 0.6;
+
+    public static double velGate0End = 2700, hoodGate0End = 0.35;
+    public static double hood0MoveTime = 2;
+    public static double spindexerSpeedIncrease = 0.014;
+
+    public static double shootAllTime  = 6.0;
+    public static double intake1Time = 3.3;
+    public static double intake2Time = 4.2;
+
+    public static double intake3Time = 5.4;
+
+    public static double flywheel0Time = 1.9;
+    public static double pickup1Speed = 14;
+    // ---- POSITION TOLERANCES ----
+    public static double posXTolerance = 5.0;
+    public static double posYTolerance = 5.0;
+    // ---- OBELISK DETECTION ----
+    public static double shoot1Time = 2.5;
+    public static double shoot2Time = 2.5;
+    public static double shoot3Time = 2.5;
+    public static double colorSenseTime = 1.2;
+    public static double waitToShoot0 = 0.5;
+    public static double waitToPickupGate2 = 0.3;
+    public static double pickupStackGateSpeed = 19;
+    public static double intake2TimeGate = 5;
+    public static double shoot2GateTime = 1.7;
+    public static double endGateTime = 22;
+    public static double waitToPickupGateWithPartner = 0.7;
+    public static double waitToPickupGateSolo = 0.01;
+    public static double intakeGateTime = 5.6;
+    public static double shootGateTime = 1.5;
+    public static double shoot1GateTime = 1.7;
+    public static double intake1GateTime = 3.3;
+    public static double lastShootTime = 27;
+
+    public static double openGateX = 26;
+    public static double openGateY = 48;
+    public  static double openGateH = Math.toRadians(155);
+
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+
+    int motif = 0;
+    double x1, y1, h1;
+    double x2a, y2a, h2a, t2a;
+
+    double x2b, y2b, h2b, t2b;
+    double x2c, y2c, h2c, t2c;
+
+    double x3a, y3a, h3a;
+    double x3b, y3b, h3b;
+    double x4a, y4a, h4a;
+    double x4b, y4b, h4b;
+
+    double xShoot, yShoot, hShoot;
+    double xShoot0, yShoot0, hShoot0;
+    double pickupGateAX, pickupGateAY, pickupGateAH;
+    double pickupGateBX, pickupGateBY, pickupGateBH;
+    double xShootGate, yShootGate, hShootGate;
+    double xLeave, yLeave, hLeave;
+    double xLeaveGate, yLeaveGate, hLeaveGate;
+
+    int ballCycles = 3;
+    int prevMotif = 0;
+    boolean gateCycle = true;
+    boolean withPartner = true;
+    double obeliskTurrPos1 = 0.0;
+    double obeliskTurrPos2 = 0.0;
+    double obeliskTurrPos3 = 0.0;
+    double waitToPickupGate = 0;
+    double obeliskTurrPosAutoStart = 0;
+
+    // initialize path variables here
+    TrajectoryActionBuilder shoot0 = null;
+    TrajectoryActionBuilder pickup1 = null;
+    TrajectoryActionBuilder shoot1 = null;
+    TrajectoryActionBuilder pickup2 = null;
+    TrajectoryActionBuilder shoot2 = null;
+    TrajectoryActionBuilder pickup3 = null;
+    TrajectoryActionBuilder shoot3 = null;
+    TrajectoryActionBuilder shoot0ToPickup2 = null;
+    TrajectoryActionBuilder gateCyclePickup = null;
+    TrajectoryActionBuilder gateCycleShoot = null;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        servos.setSpinPos(spindexer_intakePos1);
+
+        servos.setTransferPos(transferServo_out);
+        limelightUsed = false;
+
+        robot.light.setPosition(1);
+
+        hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint").resetPosAndIMU();
+
+        while (opModeInInit()) {
+            if (limelightUsed && !gateCycle){
+                Actions.runBlocking(
+                        autoActions.detectObelisk(
+                                0.1,
+                                0.501,
+                                0.501,
+                                0.501,
+                                0.501,
+                                obeliskTurrPosAutoStart
+                        )
+                );
+                motif = turret.getObeliskID();
+
+                if (motif == 21){
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall1;
+                } else if (motif == 22){
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall3b;
+                } else {
+                    AutoActions.firstSpindexShootPos = spindexer_outtakeBall2;
+                }
+            }
+
+            if (!gateCycle) {
+                turret.pipelineSwitch(1);
+            } else if (redAlliance) {
+                turret.pipelineSwitch(4);
+            } else {
+                turret.pipelineSwitch(2);
+            }
+
+            if (gateCycle) {
+                servos.setHoodPos(hoodGate0Start);
+            } else {
+                servos.setHoodPos(shoot0Hood);
+            }
+
+            if (gamepad2.crossWasPressed()) {
+                redAlliance = !redAlliance;
+            }
+
+            if (gamepad2.dpadLeftWasPressed()) {
+                turrDefault -= 0.01;
+            }
+
+            if (gamepad2.dpadRightWasPressed()) {
+                turrDefault += 0.01;
+            }
+
+            if (gamepad2.rightBumperWasPressed()) {
+                ballCycles++;
+            }
+            if (gamepad2.leftBumperWasPressed()) {
+                ballCycles--;
+            }
+
+            if (gamepad2.triangleWasPressed()){
+                gateCycle = !gateCycle;
+            }
+
+
+
+            if (gamepad2.squareWasPressed()) {
+
+                drive = new MecanumDrive(hardwareMap,new Pose2d(0,0,0));
+                robot.limelight.start();
+                limelightUsed = true;
+
+                gamepad2.rumble(500);
+            }
+
+            if (redAlliance) {
+                robot.light.setPosition(0.28);
+
+                // ---- FIRST SHOT ----
+                x1 = rx1;
+                y1 = ry1;
+                h1 = rh1;
+
+                // ---- PICKUP PATH ----
+                x2a = rx2a;
+                y2a = ry2a;
+                h2a = rh2a;
+                x2b = rx2b;
+                y2b = ry2b;
+                h2b = rh2b;
+                x3a = rx3a;
+                y3a = ry3a;
+                h3a = rh3a;
+                x3b = rx3b;
+                y3b = ry3b;
+                h3b = rh3b;
+                x4a = rx4a;
+                y4a = ry4a;
+                h4a = rh4a;
+                x4b = rx4b;
+                y4b = ry4b;
+                h4b = rh4b;
+
+                xShoot = rShootX;
+                yShoot = rShootY;
+                hShoot = rShootH;
+                xLeave = rLeaveX;
+                yLeave = rLeaveY;
+                hLeave = rLeaveH;
+
+                xShoot0 = rShoot0X;
+                yShoot0 = rShoot0Y;
+                hShoot0 = rShoot0H;
+                xShootGate = rShootGateX;
+                yShootGate = rShootGateY;
+                hShootGate = rShootGateH;
+                xLeaveGate = rLeaveGateX;
+                yLeaveGate = rLeaveGateY;
+                hLeaveGate = rLeaveGateH;
+
+                pickupGateAX = rPickupGateAX;
+                pickupGateAY = rPickupGateAY;
+                pickupGateAH = rPickupGateAH;
+                pickupGateBX = rPickupGateBX;
+                pickupGateBY = rPickupGateBY;
+                pickupGateBH = rPickupGateBH;
+
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
+                obeliskTurrPos1 = turrDefault + redObeliskTurrPos1;
+                obeliskTurrPos2 = turrDefault + redObeliskTurrPos2;
+                obeliskTurrPos3 = turrDefault + redObeliskTurrPos3;
+            } else {
+                robot.light.setPosition(0.6);
+
+                // ---- FIRST SHOT ----
+                x1 = bx1;
+                y1 = by1;
+                h1 = bh1;
+
+                // ---- PICKUP PATH ----
+                x2a = bx2a;
+                y2a = by2a;
+                h2a = bh2a;
+                x2b = bx2b;
+                y2b = by2b;
+                h2b = bh2b;
+                x3a = bx3a;
+                y3a = by3a;
+                h3a = bh3a;
+                x3b = bx3b;
+                y3b = by3b;
+                h3b = bh3b;
+                x4a = bx4a;
+                y4a = by4a;
+                h4a = bh4a;
+                x4b = bx4b;
+                y4b = by4b;
+                h4b = bh4b;
+
+                xShoot = bShootX;
+                yShoot = bShootY;
+                hShoot = bShootH;
+                xLeave = bLeaveX;
+                yLeave = bLeaveY;
+                hLeave = bLeaveH;
+
+                xShoot0 = bShoot0X;
+                yShoot0 = bShoot0Y;
+                hShoot0 = bShoot0H;
+                xShootGate = bShootGateX;
+                yShootGate = bShootGateY;
+                hShootGate = bShootGateH;
+                xLeaveGate = bLeaveGateX;
+                yLeaveGate = bLeaveGateY;
+                hLeaveGate = bLeaveGateH;
+
+                pickupGateAX = bPickupGateAX;
+                pickupGateAY = bPickupGateAY;
+                pickupGateAH = bPickupGateAH;
+                pickupGateBX = bPickupGateBX;
+                pickupGateBY = bPickupGateBY;
+                pickupGateBH = bPickupGateBH;
+
+                obeliskTurrPosAutoStart = turrDefault + redObeliskTurrPos0;
+                obeliskTurrPos1 = turrDefault + blueObeliskTurrPos1;
+                obeliskTurrPos2 = turrDefault + blueObeliskTurrPos2;
+                obeliskTurrPos3 = turrDefault + blueObeliskTurrPos3;
+            }
+
+            if (gateCycle) {
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(xShoot0, yShoot0), Math.toRadians(hShoot0));
+            } else {
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(x1, y1), Math.toRadians(h1));
+            }
+
+            if (gateCycle) {
+                pickup2 = shoot0.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                        .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                                new TranslationalVelConstraint(pickupStackGateSpeed));
+            } else {
+                pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                        .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                        .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                                new TranslationalVelConstraint(pickup1Speed));
+            }
+
+            if (gateCycle&& withPartner) {
+                shoot2 = pickup2.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(openGateX, openGateY), Math.toRadians(openGateH))
+                        .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
+            } else if (gateCycle) {
+                shoot2 = pickup2.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
+            } else if (ballCycles < 3) {
+                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
+                        .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+            } else {
+                shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, Math.toRadians(h3b)))
+                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+            }
+
+            gateCyclePickup = shoot2.endTrajectory().fresh()
+                    .strafeToLinearHeading(new Vector2d(pickupGateAX, pickupGateAY), Math.toRadians(pickupGateAH))
+                    .waitSeconds(waitToPickupGate)
+                    .strafeToLinearHeading(new Vector2d(pickupGateBX, pickupGateBY), Math.toRadians(pickupGateBH))
+                    .waitSeconds(0.1)
+                    .strafeToLinearHeading(new Vector2d(pickupGateCX, pickupGateCY), Math.toRadians(pickupGateCH),
+                            new TranslationalVelConstraint(13));
+
+            gateCycleShoot = gateCyclePickup.endTrajectory().fresh()
+                    .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(hShootGate));
+
+
+            if (gateCycle) {
+                pickup1 = gateCycleShoot.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                        .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                                new TranslationalVelConstraint(pickupStackGateSpeed));
+            } else {
+                pickup1 = drive.actionBuilder(new Pose2d(x1, y1, Math.toRadians(h1)))
+                        .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                        .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                                new TranslationalVelConstraint(pickup1Speed));
+            }
+
+
+            if (gateCycle) {
+                shoot1 = pickup1.endTrajectory().fresh()
+                        .strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
+            } else if (ballCycles < 2) {
+                shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
+                        .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+            } else {
+                shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, Math.toRadians(h2b)))
+                        .strafeToLinearHeading(new Vector2d(xShoot, yShoot), Math.toRadians(hShoot));
+            }
+
+            pickup3 = drive.actionBuilder(new Pose2d(xShoot, yShoot, Math.toRadians(hShoot)))
+                    .strafeToLinearHeading(new Vector2d(x4a, y4a), Math.toRadians(h4a))
+                    .strafeToLinearHeading(new Vector2d(x4b, y4b), Math.toRadians(h4b),
+                            new TranslationalVelConstraint(pickup1Speed));
+
+            shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, Math.toRadians(h4b)))
+                    .strafeToLinearHeading(new Vector2d(xLeave, yLeave), Math.toRadians(hLeave));
+
+            if (withPartner) {
+                waitToPickupGate = waitToPickupGateWithPartner;
+            } else {
+                waitToPickupGate = waitToPickupGateSolo;
+            }
+
+            teleStart = drive.localizer.getPose();
+            TELE.addData("Red?", redAlliance);
+            TELE.addData("Turret Default", turrDefault);
+            TELE.addData("Gate Cycle?", gateCycle);
+            TELE.addData("Ball Cycles", ballCycles);
+            TELE.addData("Limelight Started?", limelightUsed);
+            TELE.addData("Motif", motif);
+
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            double stamp = getRuntime();
+
+            robot.transfer.setPower(1);
+
+
+            if (gateCycle) {
+                startAutoGate();
+                shoot(0.501, 0.501, 0.501);
+                cycleStackMiddleGate();
+                shoot(0.501,0.501, 0.501);
+
+                while (getRuntime() - stamp < endGateTime) {
+                    cycleGateIntake();
+                    if (getRuntime() - stamp < lastShootTime) {
+                        cycleGateShoot();
+                        shoot(0.501, 0.501, 0.501);
+                    }
+                }
+                cycleStackCloseIntakeGate();
+
+                if (getRuntime() - stamp < lastShootTime) {
+                    cycleStackCloseShootGate();
+                }
+
+                shoot(0.501, 0.501, 0.501);
+
+            } else {
+
+
+
+                startAuto();
+                shoot(0.501, 0.501,0.501);
+
+                if (ballCycles > 0) {
+                    cycleStackClose();
+                    shoot(xShoot, yShoot, hShoot);
+                }
+
+                if (ballCycles > 1) {
+                    cycleStackMiddle();
+                    shoot(xShoot, yShoot, hShoot);
+                }
+
+                if (ballCycles > 2) {
+                    cycleStackFar();
+                    shoot(xLeave, yLeave, hLeave);
+                }
+            }
+
+            while (opModeIsActive()) {
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                flywheel.manageFlywheel(0);
+                robot.transfer.setPower(0);
+
+                TELE.addLine("finished");
+                TELE.update();
+            }
+
+        }
+
+    }
+
+    void shoot(double x, double y, double z) {
+        Actions.runBlocking(autoActions.shootAllAuto(shootAllTime, spindexerSpeedIncrease, x, y, z));
+    }
+
+    void startAuto() {
+        assert shoot0 != null;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot0.build(),
+                        autoActions.prepareShootAll(
+                                0.8,
+                                flywheel0Time,
+                                motif,
+                                x1,
+                                y1,
+                                h1
+                        )
+                )
+        );
+
+    }
+
+
+
+    void startAutoGate() {
+        assert shoot0 != null;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot0.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                flywheel0Time,
+                                motif,
+                                xShoot0,
+                                yShoot0,
+                                hShoot0
+                        )
+                )
+        );
+
+
+    }
+
+    void cycleStackClose() {
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup1.build(),
+                        autoActions.intake(
+                                intake1Time,
+                                x2b,
+                                y2b,
+                                h2b
+                        )
+                )
+        );
+
+        double posX;
+        double posY;
+        double posH;
+        if (ballCycles > 1) {
+            posX = xShoot;
+            posY = yShoot;
+            posH = hShoot;
+        } else {
+            posX = xLeave;
+            posY = yLeave;
+            posH = hLeave;
+        }
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot1.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot1Time,
+                                motif,
+                                posX,
+                                posY,
+                                posH
+                        )
+                )
+        );
+    }
+
+    void cycleStackMiddle() {
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup2.build(),
+                        autoActions.intake(
+                                intake2Time,
+                                x3b,
+                                y3b,
+                                h3b
+                        )
+                )
+        );
+
+        double posX;
+        double posY;
+        double posH;
+        if (ballCycles > 2) {
+            posX = xShoot;
+            posY = yShoot;
+            posH = hShoot;
+        } else {
+            posX = xLeave;
+            posY = yLeave;
+            posH = hLeave;
+        }
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot2.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot2Time,
+                                motif,
+                                posX,
+                                posY,
+                                posH)
+                )
+        );
+    }
+
+    void cycleStackFar() {
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup3.build(),
+                        autoActions.intake(
+                                intake3Time,
+                                x4b,
+                                y4b,
+                                h4b
+                        )
+                )
+        );
+
+        motif = turret.getObeliskID();
+
+        if (motif == 0) motif = prevMotif;
+        prevMotif = motif;
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot3.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot3Time,
+                                motif,
+                                xLeave,
+                                yLeave,
+                                hLeave
+                        )
+                )
+        );
+    }
+
+    void cycleStackMiddleGate() {
+        drive.updatePoseEstimate();
+        pickup2 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(x3a, y3a), Math.toRadians(h3a))
+                .strafeToLinearHeading(new Vector2d(x3b, y3b), Math.toRadians(h3b),
+                        new TranslationalVelConstraint(pickupStackGateSpeed));
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup2.build(),
+                        autoActions.intake(
+                                intake2TimeGate,
+                                x3b,
+                                y3b,
+                                h3b
+                        )
+                )
+        );
+
+        servos.setSpinPos(spinStartPos);
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot2.build(),
+                        autoActions.prepareShootAll(
+                                colorSenseTime,
+                                shoot2Time,
+                                motif,
+                                xShootGate,
+                                yShootGate,
+                                pickupGateAH)
+                )
+        );
+    }
+
+    void cycleGateIntake() {
+        drive.updatePoseEstimate();
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        gateCyclePickup.build(),
+                        autoActions.intake(
+                                intakeGateTime,
+                                xShootGate,
+                                yShootGate,
+                                hShootGate
+                        )
+                )
+        );
+    }
+
+    void cycleGateShoot() {
+
+        drive.updatePoseEstimate();
+        servos.setSpinPos(spinStartPos);
+
+        gateCycleShoot = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(xShootGate, yShootGate), Math.toRadians(pickupGateAH));
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        gateCycleShoot.build(),
+                        autoActions.manageShooterAuto(
+                                shootGateTime,
+                                xShootGate,
+                                yShootGate,
+                                pickupGateAH,
+                                false
+                        )
+                )
+        );
+    }
+
+    void cycleStackCloseIntakeGate() {
+        drive.updatePoseEstimate();
+
+        pickup1 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(x2a, y2a), Math.toRadians(h2a))
+                .strafeToLinearHeading(new Vector2d(x2b, y2b), Math.toRadians(h2b),
+                        new TranslationalVelConstraint(pickupStackGateSpeed));
+
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        pickup1.build(),
+                        autoActions.intake(
+                                intake1GateTime,
+                                xShootGate,
+                                yShootGate,
+                                hShootGate
+                        )
+                )
+        );
+    }
+
+    void cycleStackCloseShootGate(){
+        servos.setSpinPos(spinStartPos);
+        drive.updatePoseEstimate();
+
+        shoot1 = drive.actionBuilder(drive.localizer.getPose())
+                .strafeToLinearHeading(new Vector2d(xLeaveGate, yLeaveGate), Math.toRadians(hLeaveGate));
+
+        Actions.runBlocking(
+                new ParallelAction(
+                        shoot1.build(),
+                        autoActions.manageShooterAuto(
+                                shoot1GateTime,
+                                xLeaveGate,
+                                yLeaveGate,
+                                hLeaveGate,
+                                false
+                        )
+                )
+        );
+    }
+}

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

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

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

@@ -0,0 +1,677 @@
+package org.firstinspires.ftc.teamcode.autonomous.actions;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+import java.util.Objects;
+
+@Config
+public class AutoActions {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servos;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    Light light;
+    Turret turret;
+    private int driverSlotGreen = 0;
+    private int passengerSlotGreen = 0;
+    private int rearSlotGreen = 0;
+    private int mostGreenSlot = 0;
+    public static double firstSpindexShootPos = spinStartPos;
+    private boolean shootForward = true;
+    public int motif = 0;
+    double spinEndPos = ServoPositions.spinEndPos;
+
+    public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
+        this.robot = rob;
+        this.drive = dri;
+        this.TELE = tel;
+        this.servos = ser;
+        this.flywheel = fly;
+        this.spindexer = spi;
+        this.targeting = tar;
+        this.targetingSettings = tS;
+        this.turret = tur;
+        this.light = lig;
+    }
+
+    public Action prepareShootAll(
+            double colorSenseTime,
+            double time,
+            int motif_id,
+            double posX,
+            double posY,
+            double posH
+    ) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            double spindexerWiggle = 0.01;
+
+            boolean decideGreenSlot = false;
+
+            void spin1PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall1;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void reverseSpin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void oddSpin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3b;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                    driverSlotGreen = 0;
+                    passengerSlotGreen = 0;
+                    rearSlotGreen = 0;
+                }
+                ticker++;
+                servos.setTransferPos(transferServo_out);
+                drive.updatePoseEstimate();
+
+                light.setState(StateEnums.LightState.GOAL_LOCK);
+
+                teleStart = drive.localizer.getPose();
+
+                manageShooter.run(telemetryPacket);
+
+                TELE.addData("Most Green Slot", mostGreenSlot);
+                TELE.addData("Driver Slot Greeness", driverSlotGreen);
+                TELE.addData("Passenger Slot Greeness", passengerSlotGreen);
+                TELE.addData("Rear Greeness", rearSlotGreen);
+                TELE.update();
+
+                if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
+
+                    spindexerWiggle *= -1.0;
+
+                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
+
+
+// Rear Center (Position 1)
+                    double distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+                    if (distanceRearCenter < 52) {
+                        NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+                        double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+                        if (gP1 >= 0.38) {
+                            rearSlotGreen++;
+                        }
+                    }
+
+// Front Driver (Position 2)
+                    double distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+                    if (distanceFrontDriver < 50) {
+                        NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
+                        double gP2 = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
+                        if (gP2 >= 0.4) {
+                            driverSlotGreen++;
+                        }
+                    }
+
+// Front Passenger (Position 3)
+                    double distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+                    if (distanceFrontPassenger < 29) {
+                        NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
+                        double gP3 = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
+                        if (gP3 >= 0.4) {
+                            passengerSlotGreen++;
+                        }
+                    }
+
+                    spindexer.setIntakePower(-0.1);
+
+                    decideGreenSlot = true;
+
+                    return true;
+                } else if (decideGreenSlot) {
+
+                    if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
+                        mostGreenSlot = 3;
+                    } else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
+                        mostGreenSlot = 2;
+                    } else {
+                        mostGreenSlot = 1;
+                    }
+
+                    decideGreenSlot = false;
+
+                    if (motif_id == 21) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                            spinEndPos = 0.05;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        }
+                    } else if (motif_id == 22) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = false;
+                            spinEndPos = 0.03;
+                        }
+
+                    } else {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                            spinEndPos = 0.05;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;                        }
+                    }
+
+                    return true;
+                } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
+
+                    servos.setSpinPos(firstSpindexShootPos);
+
+                    return true;
+                } else {
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    public Action shootAllAuto(double shootTime, double spindexSpeed, double posX, double posY, double posH) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = servos.getSpinPos() > spinEndPos;
+                } else {
+                    end = servos.getSpinPos() < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
+
+                    if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
+                        servos.setSpinPos(firstSpindexShootPos);
+                    } else {
+                        servos.setTransferPos(transferServo_in);
+                        shooterTicker++;
+                        Spindexer.whileShooting = true;
+                        if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                            servos.setSpinPos(prevSpinPos + spindexSpeed);
+                        } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                            servos.setSpinPos(prevSpinPos - spindexSpeed);
+                        }
+
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action shootAllManual(
+            double shootTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double spindexSpeed,
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = prevSpinPos > spinEndPos;
+                } else {
+                    end = prevSpinPos < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
+                    servos.setTransferPos(transferServo_in);
+                    shooterTicker++;
+                    Spindexer.whileShooting = true;
+                    if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
+                    } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action intake(
+            double time,
+            double posX,
+            double posY,
+            double posH
+    ) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                spindexer.setIntakePower(1);
+                light.setState(StateEnums.LightState.BALL_COUNT);
+                light.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                manageShooter.run(telemetryPacket);
+
+                if ((System.currentTimeMillis() - stamp) > (time * 1000)) {
+                    servos.setSpinPos(spindexer_intakePos1);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    private boolean detectingObelisk = false;
+
+    public Action detectObelisk(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance,
+            double turrPos
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+            int prevMotif = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                detectingObelisk = true;
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    turret.pipelineSwitch(1);
+                    ticker++;
+                }
+
+                motif = turret.detectObelisk();
+
+                if (prevMotif == motif){
+                    ticker++;
+                }
+                prevMotif = motif;
+
+                turret.setTurret(turrPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull() || ticker > 10;
+
+                teleStart = currentPose;
+
+                if (shouldFinish) {
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                    } else {
+                        turret.pipelineSwitch(2);
+                    }
+                    detectingObelisk = false;
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action manageShooterAuto(
+            double time,
+            double posX,
+            double posY,
+            double posH,
+            boolean flywheelSensor
+    ) {
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            final boolean timeFallback = (time != 0.501);
+
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                        light.setManualLightColor(Color.LightRed);
+                    } else {
+                        turret.pipelineSwitch(2);
+                        light.setManualLightColor(Color.LightBlue);
+
+                    }
+                }
+
+                ticker++;
+
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;
+
+                double robotHeading = currentPose.heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+
+
+                Pose2d deltaPose;
+                if (posX != 0.501) {
+                    deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
+                } else {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                }
+                Turret.limelightUsed = true;
+
+//                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                if (!detectingObelisk) {
+                    turret.trackGoal(deltaPose);
+                }
+
+                servos.setHoodPos(targetingSettings.hoodAngle);
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
+
+                teleStart = currentPose;
+
+                TELE.addData("Steady?", flywheel.getSteady());
+                TELE.update();
+
+                return !shouldFinish;
+            }
+        };
+    }
+
+    public Action Wait(double time) {
+        return new Action() {
+            boolean ticker = false;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (!ticker) {
+                    stamp = System.currentTimeMillis();
+                    ticker = true;
+                }
+
+                return (System.currentTimeMillis() - stamp < time * 1000);
+
+            }
+        };
+    }
+
+    public Action manageShooterManual(
+            double maxTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr
+    ) {
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            final boolean timeFallback = (maxTime != 0.501);
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;
+
+                double robotHeading = currentPose.heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+                Pose2d deltaPose;
+                if (turr == 0.501) {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                    if (!detectingObelisk) {
+                        turret.trackGoal(deltaPose);
+                    }
+                } else {
+                    turret.setTurret(turr);
+                }
+
+                servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
+                double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
+
+                teleStart = currentPose;
+
+                TELE.addData("Steady?", flywheel.getSteady());
+                TELE.update();
+
+                return !timeDone;
+            }
+        };
+    }
+}
+
+

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/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.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.Front_Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 
@@ -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.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.bh3aG;
-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.bx3aG;
-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.by3aG;
-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.rh3aG;
-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.rx3aG;
-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.ry3aG;
-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.Front_Poses.bShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3aG;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.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.Poses.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.bx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.by4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rh4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.rx4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry3b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4a;
-import static org.firstinspires.ftc.teamcode.constants.Poses.ry4b;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;

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

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

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

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

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

@@ -5,19 +5,19 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.07; //0.13;
+    public static double spindexer_intakePos1 = 0.18; //0.13;
 
-    public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
 
-    public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
+    public static double spindexer_intakePos3 = 0.56; //0.53;//0.66;
 
-    public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
-    public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
+    public static double spindexer_outtakeBall3 = 0.84; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.27; //0.65; //0.24;
 
-    public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
-    public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
-    public static double spinStartPos = 0.22;
-    public static double spinEndPos = 0.85;
+    public static double spindexer_outtakeBall2 = 0.66; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.47; //0.27; //0.4;
+    public static double spinStartPos = 0.10;
+    public static double spinEndPos = 0.95;
 
     public static double shootAllSpindexerSpeedIncrease = 0.014;
 
@@ -27,9 +27,21 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.27;
 
-    public static double hoodOffset = -0.05;
+    public static double hoodOffset = -0.04; // offset from 0.93
 
-    public static double turret_redClose = 0.42;
-    public static double turret_blueClose = 0.38;
+    public static double turret_redClose = 0;
+    public static double turret_blueClose = 0;
+
+    // These values are ADDED to turrDefault
+    public static double redObeliskTurrPos0 = -0.35;
+    public static double redObeliskTurrPos1 = 0.15;
+    public static double redObeliskTurrPos2 = 0.16;
+    public static double redObeliskTurrPos3 = 0.17;
+    public static double blueObeliskTurrPos0 = 0.35;
+    public static double blueObeliskTurrPos1 = -0.15;
+    public static double blueObeliskTurrPos2 = -0.16;
+    public static double blueObeliskTurrPos3 = -0.17;
+    public static double redTurretShootPos = 0.05;
+    public static double blueTurretShootPos = -0.05;
 
 }

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

@@ -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/libs/RR/MecanumDrive.java

@@ -5,7 +5,9 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.*;
+import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -14,12 +16,20 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.ProfileParams;
+import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
+import com.acmerobotics.roadrunner.Twist2d;
+import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -46,13 +56,131 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;
 
-import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;
 
 @Config
 public final class MecanumDrive {
+    public static Params PARAMS = new Params();
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            new MinVelConstraint(Arrays.asList(
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
+            ));
+    public final AccelConstraint defaultAccelConstraint =
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+    public final VoltageSensor voltageSensor;
+    public final LazyImu lazyImu;
+    public final Localizer localizer;
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+
     public static class Params {
         // IMU orientation
         // TODO: fill in these values based on
@@ -64,62 +192,33 @@ public final class MecanumDrive {
 
         // drive model parameters
         public double inPerTick = 0.001978956;
-        public double lateralInPerTick = 0.0013863732202094405;
-        public double trackWidthTicks = 6488.883015684446;
+        public double lateralInPerTick = 0.001367789463080072;
+        public double trackWidthTicks = 6913.070212622687;
 
         // feedforward parameters (in tick units)
-        public double kS = 1.2147826978829488;
-        public double kV = 0.00032;
-        public double kA = 0.000046;
+        public double kS = 1.23;
+        public double kV = 0.00035;
+        public double kA = 0.00008;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 180;
+        public double maxWheelVel = 70;
         public double minProfileAccel = -40;
-        public double maxProfileAccel = 180;
+        public double maxProfileAccel = 70;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = 4* Math.PI; // shared with path
-        public double maxAngAccel = 4* Math.PI;
+        public double maxAngVel = 2 *Math.PI; // shared with path
+        public double maxAngAccel = 2 * Math.PI;
 
         // path controller gains
-        public double axialGain = 4;
-        public double lateralGain = 4;
-        public double headingGain = 4; // shared with turn
+        public double axialGain = 6.0;
+        public double lateralGain = 6.0;
+        public double headingGain = 6.0; // shared with turn
 
         public double axialVelGain = 0.0;
         public double lateralVelGain = 0.0;
         public double headingVelGain = 0.0; // shared with turn
     }
 
-    public static Params PARAMS = new Params();
-
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-
-    public final VoltageSensor voltageSensor;
-
-    public final LazyImu lazyImu;
-
-    public final Localizer localizer;
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-
     public class DriveLocalizer implements Localizer {
         public final Encoder leftFront, leftBack, rightBack, rightFront;
         public final IMU imu;
@@ -144,13 +243,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
+        public Pose2d getPose() {
+            return pose;
         }
 
         @Override
-        public Pose2d getPose() {
-            return pose;
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
         }
 
         @Override
@@ -216,63 +315,10 @@ public final class MecanumDrive {
         }
     }
 
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
-        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
-        rightBack = hardwareMap.get(DcMotorEx.class, "br");
-        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
     public final class FollowTrajectoryAction implements Action {
         public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
         private final double[] xPoints, yPoints;
+        private double beginTs = -1;
 
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
@@ -299,7 +345,16 @@ public final class MecanumDrive {
                 t = Actions.now() - beginTs;
             }
 
-            if (t >= timeTrajectory.duration) {
+            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
+
+            if ((t >= timeTrajectory.duration && error.position.norm() < 1
+                    && robotVelRobot.linearVel.norm() < 0.5)
+                    || t >= timeTrajectory.duration + 0.01) {
                 leftFront.setPower(0);
                 leftBack.setPower(0);
                 rightBack.setPower(0);
@@ -308,10 +363,6 @@ public final class MecanumDrive {
                 return false;
             }
 
-            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
 
             PoseVelocity2dDual<Time> command = new HolonomicController(
                     PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
@@ -342,7 +393,6 @@ public final class MecanumDrive {
             p.put("y", localizer.getPose().position.y);
             p.put("heading (deg)", Math.toDegrees(localizer.getPose().heading.toDouble()));
 
-            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
             p.put("xError", error.position.x);
             p.put("yError", error.position.y);
             p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
@@ -450,51 +500,4 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        PoseVelocity2d vel = localizer.update();
-        poseHistory.add(localizer.getPose());
-
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-
-
-        return vel;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
 }

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

@@ -16,10 +16,11 @@ import java.util.Objects;
 @Config
 public final class PinpointLocalizer implements Localizer {
     public static class Params {
-        public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
+        public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
+        public double perpXTicks = -2088.4296466563774; // x position of the perpendicular encoder (in tick units)
     }
 
+
     public static Params PARAMS = new Params();
 
     public final GoBildaPinpointDriver driver;
@@ -48,6 +49,8 @@ public final class PinpointLocalizer implements Localizer {
         txWorldPinpoint = initialPose;
     }
 
+
+
     @Override
     public void setPose(Pose2d pose) {
         txWorldPinpoint = pose.times(txPinpointRobot.inverse());

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

@@ -1,10 +1,9 @@
 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.Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 
 import com.acmerobotics.dashboard.FtcDashboard;
@@ -22,6 +21,7 @@ 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;
@@ -45,9 +45,9 @@ public class TeleopV3 extends LinearOpMode {
     public double vel = 3000;
     public boolean autoVel = true;
     public boolean targetingHood = true;
-    public boolean autoHood = true;
+    //    public boolean autoHood = true;
     public double shootStamp = 0.0;
-    boolean fixedTurret = false;
+    //    boolean fixedTurret = false;
     Robot robot;
     MultipleTelemetry TELE;
     Light light;
@@ -58,24 +58,25 @@ public class TeleopV3 extends LinearOpMode {
     Targeting targeting;
     Targeting.Settings targetingSettings;
     Drivetrain drivetrain;
+    MeasuringLoopTimes loopTimes;
     double autoHoodOffset = 0.0;
     int shooterTicker = 0;
     boolean intake = false;
     boolean reject = false;
     double xOffset = 0.0;
     double yOffset = 0.0;
-    double headingOffset = 0.0;
+    double hOffset = 0.0;
+    //    double headingOffset = 0.0;
     int ticker = 0;
 
-    boolean autoSpintake = false;
+    //    boolean autoSpintake = false;
     boolean enableSpindexerManager = true;
 
-    boolean overrideTurr = false;
+//    boolean overrideTurr = false;
 
     int intakeTicker = 0;
-
-    boolean turretInterpolate = false;
     private boolean shootAll = false;
+    boolean relocalize = false;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -97,6 +98,9 @@ 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);
@@ -107,16 +111,19 @@ public class TeleopV3 extends LinearOpMode {
         light.init(robot.light, spindexer, turret);
 
         light.setState(StateEnums.LightState.MANUAL);
+        limelightUsed = true;
+
         while (opModeInInit()) {
             robot.limelight.start();
             if (redAlliance) {
-                robot.limelight.pipelineSwitch(4);
+                turret.pipelineSwitch(4);
                 light.setManualLightColor(Color.LightRed);
             } else {
-                robot.limelight.pipelineSwitch(2);
+                turret.pipelineSwitch(2);
                 light.setManualLightColor(Color.LightBlue);
 
             }
+            robot.light.setPosition(1);
 
             light.update();
         }
@@ -126,7 +133,8 @@ public class TeleopV3 extends LinearOpMode {
         waitForStart();
         if (isStopRequested()) return;
 
-        robot.transferServo.setPosition(transferServo_out);
+        servo.setTransferPos(transferServo_out);
+        robot.transfer.setPower(1);
 
         while (opModeIsActive()) {
 
@@ -134,37 +142,31 @@ public class TeleopV3 extends LinearOpMode {
 
             //DRIVETRAIN:
 
-            drivetrain.drive(
-                    -gamepad1.right_stick_y,
-                    gamepad1.right_stick_x,
-                    gamepad1.left_stick_x,
-                    gamepad1.left_trigger
-            );
+            drivetrain.drive(-gamepad1.right_stick_y, gamepad1.right_stick_x, gamepad1.left_stick_x, gamepad1.left_trigger);
 
             if (gamepad1.right_bumper) {
 
                 shootAll = false;
-                robot.transferServo.setPosition(transferServo_out);
+                servo.setTransferPos(transferServo_out);
 
                 light.setState(StateEnums.LightState.BALL_COUNT);
 
-            } else if (gamepad2.triangle){
+            } else if (gamepad2.triangle) {
                 light.setState(StateEnums.LightState.BALL_COLOR);
 
             } else {
                 light.setState(StateEnums.LightState.GOAL_LOCK);
             }
 
-            robot.transfer.setPower(1);
-
-            double offset;
+            //TURRET TRACKING
 
             double robX = drive.localizer.getPose().position.x;
             double robY = drive.localizer.getPose().position.y;
+            double robH = drive.localizer.getPose().heading.toDouble();
 
-            double robotX = robX - xOffset;
-            double robotY = robY - yOffset;
-            double robotHeading = drive.localizer.getPose().heading.toDouble();
+            double robotX = robX + xOffset;
+            double robotY = robY + yOffset;
+            double robotHeading = robH + hOffset;
 
             double goalX = -15;
             double goalY = 0;
@@ -173,12 +175,25 @@ public class TeleopV3 extends LinearOpMode {
             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);
+//            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 
-            targetingSettings = targeting.calculateSettings
-                    (robotX, robotY, robotHeading, 0.0, turretInterpolate);
+            targetingSettings = targeting.calculateSettings(robotX, robotY, robotHeading, 0.0, turretInterpolate);
 
+            //RELOCALIZATION
+
+            if (gamepad2.squareWasPressed()) {
+                relocalize = !relocalize;
+                gamepad2.rumble(500);
+            }
+
+            if (relocalize) {
+                turret.relocalize();
+                xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
+                yOffset = (turret.getLimelightX() * 39.3701) - robY;
+                hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
+            } else {
                 turret.trackGoal(deltaPose);
+            }
 
             //VELOCITY AUTOMATIC
             if (autoVel) {
@@ -204,14 +219,17 @@ 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 +261,7 @@ public class TeleopV3 extends LinearOpMode {
                 drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
             }
 
+
             if (enableSpindexerManager) {
                 //if (!shootAll) {
                 spindexer.processIntake();
@@ -250,13 +269,11 @@ 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
@@ -276,15 +293,11 @@ public class TeleopV3 extends LinearOpMode {
                     if (shooterTicker == 0) {
                         spindexer.prepareShootAllContinous();
                         //TELE.addLine("preparing to shoot");
-//                    } else if (shooterTicker == 2) {
-//                        //robot.transferServo.setPosition(transferServo_in);
+//                   else if (shooterTicker == 2) {
+//                        //servo.setTransferPos(transferServo_in);
 //                        spindexer.shootAll();
 //                        TELE.addLine("starting to shoot");
-                    } else if (!spindexer.shootAllComplete()) {
-                        robot.transferServo.setPosition(transferServo_in);
-                        //TELE.addLine("shoot");
-                    } else {
-                        robot.transferServo.setPosition(transferServo_out);
+                    } else if (spindexer.shootAllComplete()) {
                         //spindexPos = spindexer_intakePos1;
                         shootAll = false;
                         spindexer.resetSpindexer();
@@ -296,28 +309,20 @@ 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));
@@ -341,18 +346,26 @@ 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);
-            TELE.addData("robotInchesX", targeting.robotInchesX);
-            TELE.addData("robotInchesY", targeting.robotInchesY);
-            TELE.addData("Targeting Interpolate", turretInterpolate);
+            TELE.addData("robot H", robotHeading);
+//            TELE.addData("robotInchesX", targeting.robotInchesX);
+//            TELE.addData("robotInchesY", targeting.robotInchesY);
+//            TELE.addData("Targeting Interpolate", turretInterpolate);
             TELE.addData("Targeting GridX", targeting.robotGridX);
             TELE.addData("Targeting GridY", targeting.robotGridY);
-            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
-            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+//            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+//            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
+//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+//            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
+            TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
+            TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
 
             TELE.update();
 

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

@@ -7,6 +7,7 @@ import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -28,16 +29,20 @@ public class ColorTest extends LinearOpMode {
         if (isStopRequested()) return;
 
         while(opModeIsActive()){
-            double green1 = robot.color1.getNormalizedColors().green;
-            double blue1 = robot.color1.getNormalizedColors().blue;
-            double red1 = robot.color1.getNormalizedColors().red;
+
+
+            NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+
+            double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+
             double dist1 = robot.color1.getDistance(DistanceUnit.MM);
             color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
 
             TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
-            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 green", gP1);
             TELE.addData("Color1 distance (mm)", color1Distance);
 
+
 // ----- COLOR 2 -----
             double green2 = robot.color2.getNormalizedColors().green;
             double blue2 = robot.color2.getNormalizedColors().blue;

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 +1,31 @@
 package org.firstinspires.ftc.teamcode.tests;
 
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinSpeedIncrease;
+import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
 
 @Config
 @TeleOp
@@ -26,22 +34,23 @@ 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 = 75;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
 
     public static boolean intake = false;
+    public static boolean turretTrack = true;
     Robot robot;
     Flywheel flywheel;
     Servos servo;
-
+    MecanumDrive drive;
+    Turret turret;
     double shootStamp = 0.0;
     boolean shootAll = false;
 
@@ -51,6 +60,7 @@ 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
@@ -62,30 +72,66 @@ 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);
             }
 
             if (hoodPos != 0.501) {
                 if (enableHoodAutoOpen) {
-                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
                 } else {
-                    robot.hood.setPosition(hoodPos);
+                    robot.hood.setPosition(hoodPos + hoodOffset);
                 }
             }
 
@@ -109,7 +155,6 @@ 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 +165,11 @@ 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 +198,7 @@ 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/tests/SortingTest.java

@@ -0,0 +1,110 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Config
+@TeleOp
+public class SortingTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        int motif = 21;
+        boolean intaking = true;
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            spindexer.setIntakePower(1);
+            robot.transfer.setPower(1);
+
+            if (gamepad1.crossWasPressed()){
+                motif = 21;
+            } else if (gamepad1.squareWasPressed()){
+                motif = 22;
+            } else if (gamepad1.triangleWasPressed()){
+                motif = 23;
+            }
+            flywheel.manageFlywheel(2500);
+
+            if (gamepad1.leftBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.prepareShootAll(
+                                3,
+                                5,
+                                motif,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+            } else if (gamepad1.rightBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.shootAllAuto(
+                                3.5,
+                                0.014,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+                intaking = true;
+            } else if (intaking){
+                spindexer.processIntake();
+            }
+        }
+    }
+}

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

@@ -12,14 +12,13 @@ public class Flywheel {
     public double velo1 = 0.0;
     public double velo2 = 0.0;
     double targetVelocity = 0.0;
-    double powPID = 0.0;
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
         shooterPIDF1 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
         shooterPIDF2 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
     }
 
     public double getVelo () {
@@ -37,6 +36,8 @@ public class Flywheel {
     }
 
     // Set the robot PIDF for the next cycle.
+    private double prevF = 0;
+    public static double voltagePIDFDifference = 0.8;
     public void setPIDF(double p, double i, double d, double f) {
         shooterPIDF1.p = p;
         shooterPIDF1.i = i;
@@ -46,6 +47,11 @@ 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);
+            prevF = f;
+        }
     }
 
     // Convert from RPM to Ticks per Second
@@ -54,25 +60,23 @@ public class Flywheel {
     // Convert from Ticks per Second to RPM
     private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
 
-    public double manageFlywheel(double commandedVelocity) {
+    public void manageFlywheel(double commandedVelocity) {
+
+        if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
             targetVelocity = commandedVelocity;
-
             // Add code here to set PIDF based on desired RPM
+            //robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+            //robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
 
-        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
-        robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+        }
         robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
         robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
-
-        // Record Current Velocity
         velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
         velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
-        velo = Math.max(velo1,velo2);
-
+        velo = Math.max(velo1, velo2);
         // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 200.0);
+        steady = (Math.abs(commandedVelocity - velo) < 50);
 
-        return powPID;
     }
 
     public void update()

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

@@ -12,7 +12,7 @@ public final class Light {
 
     private static Light instance;
     public static  double ballColorCycleTime = 1000; //in ms
-    public static double restingTime = 150; //in ms
+    public static double restingTime = 125; //in ms
 
     private Servo lightServo;
     private LightState state = LightState.DISABLED;

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

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

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

@@ -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

@@ -1,17 +1,16 @@
 package org.firstinspires.ftc.teamcode.utils;
 
 import com.acmerobotics.dashboard.config.Config;
-import com.arcrobotics.ftclib.hardware.ServoEx;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
-import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
@@ -30,11 +29,11 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 255.0;
-    public double shooterPIDF_I = 0.0;
-    public double shooterPIDF_D = 0.0;
-    public double shooterPIDF_F = 7.5;
-    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
+    public static double shooterPIDF_P = 255;
+    public static double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_F = 75;
+//    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
@@ -56,11 +55,11 @@ 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 +77,7 @@ 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 +95,6 @@ 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 +126,6 @@ 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

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -12,12 +14,19 @@ public class Servos {
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
     public static double spin_scalar = 1.112;
     public static double spin_restPos = 0.155;
-    public static double turret_scalar = 1.009;
-    public static double turret_restPos = 0.0;
     Robot robot;
     PIDFController spinPID;
     PIDFController turretPID;
 
+    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);
@@ -32,24 +41,44 @@ 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 void setTransferPos(double pos) {
+        if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
+            robot.transferServo.setPosition(pos);
+            firstTransferPos = false;
+        }
+
+        prevTransferPos = pos;
+    }
+
+    public double setSpinPos(double pos) {
+        if (firstSpinPos || !servoPosEqual(pos, prevSpinPos)) {
+            robot.spin1.setPosition(pos);
+            robot.spin2.setPosition(1-pos);
+            firstSpinPos = false;
+        }
+
+        prevSpinPos = pos;
         return pos;
     }
 
+    public void setHoodPos(double pos){
+        if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
+            robot.hood.setPosition(pos + hoodOffset);
+            firstHoodPos = false;
+        }
+
+        prevHoodPos = pos;
+    }
+
     public boolean spinEqual(double pos) {
         return Math.abs(pos - this.getSpinPos()) < 0.03;
     }
-
-    public double getTurrPos() {
-        return 1.0;
-    }
-
-    public double setTurrPos(double pos) {
-        return 1.0;
-    }
-
-    public boolean turretEqual(double pos) {
-        return true;
-    }
 }

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

@@ -1,13 +1,12 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.Color.Light0;
-import static org.firstinspires.ftc.teamcode.constants.Color.Light1;
-import static org.firstinspires.ftc.teamcode.constants.Color.Light2;
-import static org.firstinspires.ftc.teamcode.constants.Color.Light3;
-import static org.firstinspires.ftc.teamcode.constants.Color.LightGreen;
-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.colorFilterAlpha;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
@@ -17,15 +16,13 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
 
-import 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 +31,87 @@ 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];
-    double[] outakePositions =
-            {spindexer_outtakeBall1 + spindexerPosOffset,
-                    spindexer_outtakeBall2 + spindexerPosOffset,
-                    spindexer_outtakeBall3 + spindexerPosOffset};
-    double[] intakePositions =
-            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
+
+    public int commandedIntakePosition = 0;
+
+    public double distanceRearCenter = 0.0;
+    public double distanceFrontDriver = 0.0;
+    public double distanceFrontPassenger = 0.0;
+
+    public double spindexerWiggle = 0.01;
+
+    public double spindexerOuttakeWiggle = 0.01;
     private double prevPos = 0.0;
-    private double intakeTicker = 0;
+    public double spindexerPosOffset = 0.00;
+    public static int shootWaitMax = 4;
+    public static boolean whileShooting = false;
+    public static int waitFirstBallTicks = 4;
+    private int shootTicks = 0;
+    public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
+    // For Use
+    enum RotatedBallPositionNames {
+        REARCENTER,
+        FRONTDRIVER,
+        FRONTPASSENGER
+    }
+    // Array of commandedIntakePositions with contents
+    // {RearCenter, FrontDriver, FrontPassenger}
+    static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
+    class spindexerBallRoatation {
+        int rearCenter = 0; // aka commanded Position
+        int frontDriver = 0;
+        int frontPassenger = 0;
+    }
+
+    enum IntakeState {
+        UNKNOWN_START,
+        UNKNOWN_MOVE,
+        UNKNOWN_DETECT,
+        INTAKE,
+        FINDNEXT,
+        MOVING,
+        FULL,
+        SHOOTNEXT,
+        SHOOTMOVING,
+        SHOOTWAIT,
+        SHOOT_ALL_PREP,
+        SHOOT_ALL_READY,
+        SHOOT_PREP_CONTINOUS,
+        SHOOT_CONTINOUS
+    }
+
+    int shootWaitCount = 0;
+
+    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
+    public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
+    public int unknownColorDetect = 0;
+    public enum BallColor {
+        UNKNOWN,
+        GREEN,
+        PURPLE
+    }
+
+    class BallPosition {
+        boolean isEmpty = true;
+        int foundEmpty = 0;
+        BallColor ballColor = BallColor.UNKNOWN;
+    }
+
+    BallPosition[] ballPositions = new BallPosition[3];
+
+    public boolean init () {
+        return true;
+    }
 
     public Spindexer(HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
@@ -80,13 +125,36 @@ public class Spindexer {
         ballPositions[1] = new BallPosition();
         ballPositions[2] = new BallPosition();
 
+
     }
 
-    public boolean init() {
-        return true;
-    }
 
-    public void resetBallPosition(int pos) {
+    double[] outakePositions =
+            {spindexer_outtakeBall1+spindexerPosOffset,
+                    spindexer_outtakeBall2+spindexerPosOffset,
+                    spindexer_outtakeBall3+spindexerPosOffset};
+
+    double[] intakePositions =
+            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
+
+    public int counter = 0;
+
+//    private double getTimeSeconds ()
+//    {
+//        return (double) System.currentTimeMillis()/1000.0;
+//    }
+
+//    public double getPos() {
+//        robot.spin1Pos.getVoltage();
+//        robot.spin1Pos.getMaxVoltage();
+//        return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
+//    }
+
+//    public void manageSpindexer() {
+//
+//    }
+
+    public void resetBallPosition (int pos) {
         ballPositions[pos].isEmpty = true;
         ballPositions[pos].foundEmpty = 0;
         ballPositions[pos].ballColor = BallColor.UNKNOWN;
@@ -95,7 +163,7 @@ public class Spindexer {
         distanceFrontPassenger = 61;
     }
 
-    public void resetSpindexer() {
+    public void resetSpindexer () {
         for (int i = 0; i < 3; i++) {
             resetBallPosition(i);
         }
@@ -112,25 +180,23 @@ public class Spindexer {
 
         // Read Distances
         double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
-        distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1 - colorFilterAlpha) * distanceRearCenter);
+        distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
         double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
-        distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1 - colorFilterAlpha) * distanceFrontDriver);
+        distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
         double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
-        distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1 - colorFilterAlpha) * distanceFrontPassenger);
+        distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
 
         // Position 1
-        if (distanceRearCenter < 60) {
+        if (distanceRearCenter < 48) {
 
             // Mark Ball Found
             newPos1Detection = true;
 
             if (detectRearColor) {
                 // Detect which color
-                double green = robot.color1.getNormalizedColors().green;
-                double red = robot.color1.getNormalizedColors().red;
-                double blue = robot.color1.getNormalizedColors().blue;
+                NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
 
-                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) {
@@ -143,15 +209,13 @@ public class Spindexer {
         // Position 2
         // Find which ball position this is in the spindexer
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 56) {
+        if (distanceFrontDriver < 50) {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
             if (detectFrontColor) {
-                double green = robot.color2.getNormalizedColors().green;
-                double red = robot.color2.getNormalizedColors().red;
-                double blue = robot.color2.getNormalizedColors().blue;
+                NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
 
-                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 +240,9 @@ 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;
-                double red = robot.color3.getNormalizedColors().red;
-                double blue = robot.color3.getNormalizedColors().blue;
+                NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
 
-                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 +271,9 @@ public class Spindexer {
 
         return newPos1Detection;
     }
-
     // Has code to unjam spindexer
     private void moveSpindexerToPos(double pos) {
-        robot.spin1.setPosition(pos);
-        robot.spin2.setPosition(1 - pos);
+        servos.setSpinPos(pos);
 //        double currentPos = servos.getSpinPos();
 //        if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
 //            if (currentPos > pos){
@@ -224,24 +284,9 @@ 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() {
 
     }
@@ -302,21 +347,25 @@ public class Spindexer {
         }
     }
 
-    public boolean slotIsEmpty(int slot) {
+
+
+
+    public boolean slotIsEmpty(int slot){
         return !ballPositions[slot].isEmpty;
     }
 
-    public boolean isFull() {
+    public boolean isFull () {
         return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
     }
 
+    private double intakeTicker = 0;
     public boolean processIntake() {
 
         switch (currentIntakeState) {
             case UNKNOWN_START:
                 // For now just set position ONE if UNKNOWN
                 commandedIntakePosition = 0;
-                moveSpindexerToPos(intakePositions[0]);
+                servos.setSpinPos(intakePositions[0]);
                 currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
                 break;
             case UNKNOWN_MOVE:
@@ -327,11 +376,11 @@ public class Spindexer {
                     unknownColorDetect = 0;
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 }
                 break;
             case UNKNOWN_DETECT:
-                if (unknownColorDetect > 5) {
+                if (unknownColorDetect >5) {
                     currentIntakeState = Spindexer.IntakeState.FINDNEXT;
                 } else {
                     //detectBalls(true, true);
@@ -346,7 +395,7 @@ public class Spindexer {
                 } else {
                     // Maintain Position
                     spindexerWiggle *= -1.0;
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition] + spindexerWiggle);
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 }
                 break;
             case FINDNEXT:
@@ -378,13 +427,13 @@ public class Spindexer {
                     //commandedIntakePosition = bestFitMotif();
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
-                moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 break;
 
             case MOVING:
                 // Stopping when we get to the new position
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    if (intakeTicker > 1) {
+                    if (intakeTicker > 1){
                         currentIntakeState = Spindexer.IntakeState.INTAKE;
                         stopSpindexer();
                         intakeTicker = 0;
@@ -394,7 +443,7 @@ public class Spindexer {
                     //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
-                    moveSpindexerToPos(intakePositions[commandedIntakePosition]);
+                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 }
                 break;
 
@@ -407,7 +456,7 @@ public class Spindexer {
                 }
                 // Maintain Position
                 spindexerWiggle *= -1.0;
-                moveSpindexerToPos(intakePositions[commandedIntakePosition] + spindexerWiggle);
+                servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 break;
 
             case SHOOT_ALL_PREP:
@@ -416,7 +465,7 @@ 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 +477,7 @@ public class Spindexer {
                     currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
                 }
                 // Maintain Position
-                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                servos.setSpinPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTNEXT:
@@ -449,7 +498,7 @@ public class Spindexer {
                     // Empty return to intake state
                     currentIntakeState = IntakeState.FINDNEXT;
                 }
-                moveSpindexerToPos(outakePositions[commandedIntakePosition]);
+                servos.setSpinPos(outakePositions[commandedIntakePosition]);
                 break;
 
             case SHOOTMOVING:
@@ -458,15 +507,14 @@ 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) {
+                    if (commandedIntakePosition==2) {
                         shootWaitMax = 5;
                     }
                     shootWaitCount = 0;
@@ -483,29 +531,37 @@ 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)) {
+                if (shootTicks > waitFirstBallTicks){
                     currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+                    shootTicks++;
+                } else if (servos.spinEqual(spinStartPos)){
+                    shootTicks++;
+                    servos.setTransferPos(transferServo_in);
                 } else {
-                    moveSpindexerToPos(spinStartPos);
+                    servos.setSpinPos(spinStartPos);
                 }
                 break;
 
             case SHOOT_CONTINOUS:
+                whileShooting = true;
                 ballPositions[0].isEmpty = false;
                 ballPositions[1].isEmpty = false;
                 ballPositions[2].isEmpty = false;
-                if (servos.getSpinPos() > spinEndPos) {
+                if (servos.getSpinPos() > spinEndPos){
+                    whileShooting = false;
+                    servos.setTransferPos(transferServo_out);
+                    shootTicks = 0;
                     currentIntakeState = IntakeState.FINDNEXT;
                 } else {
-                    double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
-                    if (spinPos > spinEndPos + 0.03) {
+                    double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
+                    if (spinPos > spinEndPos + 0.03){
                         spinPos = spinEndPos + 0.03;
                     }
-                    moveSpindexerToPos(spinPos);
+                    servos.setSpinPos(spinPos);
                 }
                 break;
 
@@ -520,12 +576,12 @@ public class Spindexer {
         return false;
     }
 
-    public void setDesiredMotif(StateEnums.Motif newMotif) {
+    public void setDesiredMotif (StateEnums.Motif newMotif) {
         desiredMotif = newMotif;
     }
 
     // Returns the best fit for the motiff
-    public int bestFitMotif() {
+    public int bestFitMotif () {
         switch (desiredMotif) {
             case GPP:
                 if (ballPositions[0].ballColor == BallColor.GREEN) {
@@ -561,33 +617,31 @@ public class Spindexer {
         return 0;
     }
 
-    void prepareToShootMotif() {
+    void prepareToShootMotif () {
         commandedIntakePosition = bestFitMotif();
     }
 
-    public void prepareShootAll() {
+    public void prepareShootAll(){
         currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
     }
-
-    public void prepareShootAllContinous() {
+    public void prepareShootAllContinous(){
         currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
     }
-
-    public void shootAll() {
+    public void shootAll () {
         ballPositions[0].isEmpty = false;
         ballPositions[1].isEmpty = false;
         ballPositions[2].isEmpty = false;
         currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
     }
-
-    public void shootAllContinous() {
+    public void shootAllContinous(){
         ballPositions[0].isEmpty = false;
         ballPositions[1].isEmpty = false;
         ballPositions[2].isEmpty = false;
         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) &&
@@ -597,64 +651,32 @@ public class Spindexer {
                 (currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
     }
 
-    void shootAllToIntake() {
+    void shootAllToIntake () {
         currentIntakeState = Spindexer.IntakeState.FINDNEXT;
     }
 
-    public void update() {
+    public void update()
+    {
     }
 
-    public BallColor GetFrontDriverColor() {
+    public BallColor GetFrontDriverColor () {
         return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
     }
 
-    public BallColor GetFrontPassengerColor() {
+    public BallColor GetFrontPassengerColor () {
         return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
     }
 
-    public BallColor GetRearCenterColor() {
+    public BallColor GetRearCenterColor () {
         return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
     }
-
-    // For Use
-    enum RotatedBallPositionNames {
-        REARCENTER,
-        FRONTDRIVER,
-        FRONTPASSENGER
+    private double prevPow = 0.501;
+    private boolean firstIntakePow = true;
+    public void setIntakePower(double pow){
+        if (firstIntakePow || prevPow != pow){
+            firstIntakePow = false;
+            robot.intake.setPower(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;
+        prevPow = pow;
     }
 }

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

@@ -77,17 +77,24 @@ 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() {
     }
 
+    double cos54 = Math.cos(Math.toRadians(-54));
+    double sin54 = Math.sin(Math.toRadians(-54));
+
     public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
         Settings recommendedSettings = new Settings(0.0, 0.0);
-
-        double cos45 = Math.cos(Math.toRadians(-45));
-        double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
-        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
+        if (!redAlliance){
+            sin54 = Math.sin(Math.toRadians(54));
+        } else {
+            sin54 = Math.sin(Math.toRadians(-54));
+        }
+        // TODO: test these values determined from the fmap
+        double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
+        double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
 
         // Convert robot coordinates to inches
         robotInchesX = rotatedX * unitConversionFactor;
@@ -98,7 +105,17 @@ public class Targeting {
         int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
 
         int remX = Math.floorMod((int) robotInchesX, tileSize);
-        int remY = Math.floorMod((int) robotInchesX, tileSize);
+        int remY = Math.floorMod((int) robotInchesY, tileSize);
+
+        //clamp
+
+        //if (redAlliance) {
+            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //} else {
+//            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+//            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //}
 
         // Determine if we need to interpolate based on tile position.
         // if near upper or lower quarter or tile interpolate with next tile.
@@ -171,21 +188,11 @@ public class Targeting {
             interpolate = false;
         }
 
-        //clamp
-
-        if (redAlliance) {
-            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        } else {
-            robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        }
-
         // basic search
         if (true) { //!interpolate) {
             if ((robotGridY < 6) && (robotGridX < 6)) {
                 recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.hoodOffset;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
             }
             return recommendedSettings;
         } else {

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

@@ -14,6 +14,7 @@ import com.qualcomm.robotcore.hardware.DcMotor;
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.teamcode.constants.Color;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Config
@@ -22,22 +23,21 @@ public class Turret {
 
     public static double turretTolerance = 0.02;
     public static double turrPosScalar = 0.00011264432;
-    public static double turret180Range = 0.4;
-    public static double turrDefault = 0.39;
-    public static double turrMin = 0.15;
-    public static double turrMax = 0.85;
+    public static double turret180Range = 0.54;
+    public static double turrDefault = 0.35;
+    public static double turrMin = 0;
+    public static double turrMax = 1;
     public static boolean limelightUsed = true;
-
+    public static double limelightPosOffset = 5;
     public static double manualOffset = 0.0;
 
-    public static double visionCorrectionGain = 0.08;  // Single tunable gain
-    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
-    public static double cameraBearingEqual = 0.5;      // Deadband
+//    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+//    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+//    public static double cameraBearingEqual = 0.5;      // Deadband
 
-    // TODO: tune these values for limelight
-
-    public static double clampTolerance = 0.03;
-    public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
+//    public static double clampTolerance = 0.03;
+    //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
+    public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
@@ -46,6 +46,8 @@ public class Turret {
     double limelightPosX = 0.0;
     double limelightPosY = 0.0;
     LLResult result;
+    public static double TARGET_POSITION_TOLERANCE = 0.5;
+    public static double COLOR_OK_TOLERANCE = 2;
     boolean bearingAligned = false;
     private boolean lockOffset = false;
     private int obeliskID = 0;
@@ -53,8 +55,12 @@ public class Turret {
     private double currentTrackOffset = 0.0;
     private double lightColor = Color.LightRed;
     private int currentTrackCount = 0;
-    private double permanentOffset = 0.0;
-    private PIDController bearingPID;
+    double permanentOffset = 0.0;
+    private int prevPipeline = -1;
+    PIDController bearingPID;
+
+    public int llCoast = 0;
+    public int LL_COAST_TICKS = 60;
 
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
@@ -76,18 +82,33 @@ public class Turret {
         return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
 
     }
-
-    public void manualSetTurret(double pos) {
+    private double prevTurrPos = 0;
+    private boolean isFirstTurretPos = true;
+    public void setTurret(double pos) {
+        if (isFirstTurretPos || prevTurrPos != pos){
             robot.turr1.setPosition(pos);
-        robot.turr2.setPosition(1 - pos);
+            robot.turr2.setPosition(1-pos);
+            isFirstTurretPos = false;
+        }
+        prevTurrPos = pos;
+    }
+    public void pipelineSwitch(int pipeline){
+        if (prevPipeline != pipeline){
+            robot.limelight.pipelineSwitch(pipeline);
+        }
+        prevPipeline = pipeline;
     }
 
     public boolean turretEqual(double pos) {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
+    public static double alphaPosConstant = 0.3;
     private void limelightRead() { // only for tracking purposes, not general reads
-
+        Double xPos = null;
+        Double yPos = null;
+        Double zPos = null;
+        Double hPos = null;
         result = webcam.getLatestResult();
         if (result != null) {
             if (result.isValid()) {
@@ -99,9 +120,27 @@ public class Turret {
                     limelightPosX = botpose.getPosition().x;
                     limelightPosY = botpose.getPosition().y;
                 }
+                List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                    limelightTagPose = fiducial.getRobotPoseTargetSpace();
+                    if (limelightTagPose != null){
+                        xPos = limelightTagPose.getPosition().x;
+                        yPos = limelightTagPose.getPosition().y;
+                        zPos = limelightTagPose.getPosition().z;
+                        hPos = limelightTagPose.getOrientation().getYaw();
+                    }
+                }
 
             }
         }
+        if (xPos != null){
+            if (zPos<0) {
+                limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
+                limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
+                limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
+                limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
+            }
+        }
     }
 
     public double getBearing() {
@@ -114,12 +153,21 @@ public class Turret {
         return ty;
     }
 
+    Pose3D limelightTagPose;
+    double limelightTagX = 0.0;
+    double limelightTagY = 0.0;
+    double limelightTagZ = 0.0;
+    double limelightTagH = 0.0;
     public double getLimelightX() {
-        return limelightPosX;
+        return limelightTagX;
     }
+    public double getLimelightY() {return limelightTagY;}
+    public double getLimelightZ(){return limelightTagZ;}
+    public double getLimelightH(){return limelightTagH;}
 
-    public double getLimelightY() {
-        return limelightPosY;
+    public void relocalize(){
+        setTurret(turrDefault);
+        limelightRead();
     }
 
     public int detectObelisk() {
@@ -127,10 +175,14 @@ public class Turret {
         LLResult result = webcam.getLatestResult();
         if (result != null && result.isValid()) {
             List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            double prevTx  = -1000;
             for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                double currentTx = fiducial.getTargetXDegrees();
+                if (currentTx > prevTx){
                     obeliskID = fiducial.getFiducialId();
                 }
             }
+        }
         return obeliskID;
     }
 
@@ -149,16 +201,16 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
-
+    private double targetTx = 0;
+    public static double alphaTX = 0.5;
     private double bearingAlign(LLResult llResult) {
         double bearingOffset = 0.0;
-        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
-        final double MIN_OFFSET_POWER = 0.15;
-        final double TARGET_POSITION_TOLERANCE = 1.0;
-        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
-        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
-        final double DRIVE_POWER_REDUCTION = 2.0;
-        final double COLOR_OK_TOLERANCE = 2.5;
+        double tx = llResult.getTx();   // How far left or right the target is (degrees)
+        targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
+//        final double MIN_OFFSET_POWER = 0.15;
+//        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+//        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+//        final double DRIVE_POWER_REDUCTION = 2.0;
 
         if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
             bearingAligned = true;
@@ -222,11 +274,18 @@ public class Turret {
 
         turretAngleDeg += permanentOffset;
 
+
         limelightRead();
         // Active correction if we see the target
         if (result.isValid() && !lockOffset && limelightUsed) {
             currentTrackOffset += bearingAlign(result);
             currentTrackCount++;
+
+            TELE.addData("LL Tracking: ", llCoast);
+
+            // Assume the last tracked value is always better than
+            // any previous value, even if its not fully aligned.
+            llCoast = LL_COAST_TICKS;
 //            double bearingError = Math.abs(tagBearingDeg);
 //
 //            if (bearingError > cameraBearingEqual) {
@@ -257,9 +316,15 @@ public class Turret {
 //            if (currentTrackCount > 20) {
 //                offset = currentTrackOffset;
 //            }
+            if (llCoast <= 0) {
+                TELE.addData("LL No Track: ", llCoast);
                 lightColor = Color.LightRed;
                 currentTrackOffset = 0.0;
                 currentTrackCount = 0;
+            } else {
+                TELE.addData("LL Coasting: ", llCoast);
+                llCoast--;
+            }
         }
 
         // Apply accumulated offset
@@ -274,7 +339,7 @@ public class Turret {
         targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
 
         // Interpolate towards target position
-        double currentPos = getTurrPos();
+//        double currentPos = getTurrPos();
         double turretPos = targetTurretPos;
 
         if (targetTurretPos == turrMin) {
@@ -284,8 +349,9 @@ public class Turret {
         }
 
         // Set servo positions
-        robot.turr1.setPosition(turretPos + manualOffset);
-        robot.turr2.setPosition(1.0 - turretPos - manualOffset);
+        if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
+            setTurret(turretPos + manualOffset);
+        }
 
 
         /* ---------------- TELEMETRY ---------------- */

build.dependencies.gradle

@@ -9,28 +9,21 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:11.0.0'
-    implementation 'org.firstinspires.ftc:Blocks:11.0.0'
-    implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
-    implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
-    implementation 'org.firstinspires.ftc:Hardware:11.0.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
-    implementation 'org.firstinspires.ftc:Vision:11.0.0'
+    implementation 'org.firstinspires.ftc:Inspection:11.1.0'
+    implementation 'org.firstinspires.ftc:Blocks:11.1.0'
+    //noinspection Aligned16KB
+    implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
+    implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
+    implementation 'org.firstinspires.ftc:Hardware:11.1.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:11.1.0'
+    implementation 'org.firstinspires.ftc:Vision:11.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
 
-
-    implementation 'com.pedropathing:ftc:2.0.1' //PedroCore
-    implementation 'com.pedropathing:telemetry:0.0.6' //PedroTele
-
+    implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
+    implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
     implementation 'com.bylazar:fullpanels:1.0.2' //Panels
-
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
-    implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
-    implementation "com.acmerobotics.dashboard:dashboard:0.5.1" //FTC Dash
-
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
 
     implementation 'com.rowanmcalpin.nextftc:core:0.6.2' //NEXT FTC
@@ -40,11 +33,5 @@ dependencies {
     implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
 
 
-
-
-
-
-
-
 }