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

.slothLoad/SlothLoad.run.xml

@@ -1,24 +0,0 @@
-<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

@@ -1,75 +0,0 @@
-<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="61"
+    android:versionCode="60"
-          android:versionName="11.1">
+          android:versionName="11.0">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -92,6 +92,7 @@ public class ConceptAprilTag extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
+        if (opModeIsActive()) {
             while (opModeIsActive()) {
 
                 telemetryAprilTag();
@@ -109,6 +110,7 @@ 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

@@ -88,6 +88,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
+        if (opModeIsActive()) {
             while (opModeIsActive()) {
 
                 telemetryAprilTag();
@@ -105,6 +106,7 @@ 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

@@ -81,6 +81,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
         telemetry.update();
         waitForStart();
 
+        if (opModeIsActive()) {
             while (opModeIsActive()) {
 
                 telemetryCameraSwitching();
@@ -101,6 +102,7 @@ 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

@@ -83,22 +83,6 @@ 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.externalhardware;
+package org.firstinspires.ftc.robotcontroller.external.samples;
 
 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.externalhardware;
+package org.firstinspires.ftc.robotcontroller.external.samples;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;

README.md

@@ -59,21 +59,6 @@ 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

@@ -12,25 +12,8 @@
 // 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'
@@ -45,32 +28,14 @@ repositories {
     maven {
         url = 'https://maven.brott.dev/'
     }
-    // Dairy releases repository
-    maven {
-        url = "https://repo.dairy.foundation/releases"
-    }
-    // Dairy snapshots repository
-    maven {
-        url = "https://repo.dairy.foundation/snapshots"
-    }
 }
 
 dependencies {
     implementation project(':FtcRobotController')
-    implementation("dev.frozenmilk.sinister:Sloth:0.2.4")
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
+    implementation "com.acmerobotics.roadrunner:core:1.0.1"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
+    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
     implementation 'org.ftclib.ftclib:core:2.1.1' // core
-    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/AutoClose_V3.java

@@ -0,0 +1,606 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoClose_V3 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
+    LimelightManager limelightManager;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.1;
+
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
+    double powPID = 0.0;
+    double bearing = 0.0;
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                limelightManager.update();
+                int id = limelightManager.detectFiducial();
+
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
+
+                TELE.addData("Fiducial ID", id);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redClose : turret_blueClose;
+                    double turretPID = servo.setTurrPos(turretTarget);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turretTarget);
+                }
+                return true;
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPower(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = spindexer_intakePos1;
+            double stamp = 0.0;
+            int ticker = 0;
+            double pow = 1.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(pow);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if (!servo.spinEqual(position)){
+                    double spinPID = servo.setSpinPos(position);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
+                }
+
+                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    if (getRuntime() - stamp - intakeTime < 1){
+                        pow = -2*(getRuntime() - stamp - intakeTime);
+                        return true;
+                    } else {
+                        robot.intake.setPower(0);
+                        return false;
+                    }
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 60) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 33) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        flywheel = new FlywheelV2();
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = servo.setTurrPos(turret_detectRedClose);
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
+                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
+
+                shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                        .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
+
+                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+            } else {
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
+
+                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+                shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+                pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                        .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+            }
+
+            robot.turr1.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(AUTO_CLOSE_VEL)
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(AUTO_CLOSE_VEL)
+                    )
+            );
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        limelightManager.update();
+        bearing = limelightManager.getBearing();
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        
+        // Define sequences based on obelisk configuration
+        double[][] sequences = {
+            {1, 2, 3}, {1, 3, 2}, {2, 1, 3}, {2, 3, 1}, {3, 1, 2}, {3, 2, 1}
+        };
+
+        double[] sequence = null;
+        
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[0];      // 1,2,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[2]; // 2,1,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[4]; // 3,1,2
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[0];
+                else if (b2 == 2) sequence = sequences[2];
+                else if (b3 == 2) sequence = sequences[4];
+            } else sequence = sequences[0];
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[2];      // 2,1,3
+                else if (b2 == 2 && b1 == b3) sequence = sequences[0]; // 1,2,3
+                else if (b3 == 2 && b1 == b2) sequence = sequences[3]; // 2,3,1
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[2];
+                else if (b2 == 2) sequence = sequences[0];
+                else if (b3 == 2) sequence = sequences[3];
+            } else sequence = sequences[2];
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 == b3) sequence = sequences[4];      // 3,1,2
+                else if (b2 == 2 && b1 == b3) sequence = sequences[5]; // 3,2,1
+                else if (b3 == 2 && b1 == b2) sequence = sequences[0]; // 1,2,3
+                else sequence = sequences[0];
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) sequence = sequences[4];
+                else if (b2 == 2) sequence = sequences[5];
+                else if (b3 == 2) sequence = sequences[0];
+            } else sequence = sequences[4];
+        } else sequence = sequences[0];
+
+        executeShootingSequence(sequence);
+        TELE.update();
+    }
+
+    private void executeShootingSequence(double[] sequence) {
+        double[] ballPositions = {
+            spindexer_outtakeBall1,
+            spindexer_outtakeBall2,
+            spindexer_outtakeBall3
+        };
+
+        for (double ball : sequence) {
+            Actions.runBlocking(
+                    new SequentialAction(
+                            spindex(ballPositions[(int) ball - 1], AUTO_CLOSE_VEL),
+                            Shoot(AUTO_CLOSE_VEL)
+                    )
+            );
+        }
+    }
+}

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

@@ -0,0 +1,619 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.*;
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.FlywheelV2;
+import org.firstinspires.ftc.teamcode.utils.LimelightManager;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+
+@Config
+@Autonomous(preselectTeleOp = "TeleopV3")
+public class AutoFar_V1 extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    FlywheelV2 flywheel;
+    Servos servo;
+    LimelightManager limelightManager;
+
+    double velo = 0.0;
+    public static double intake1Time = 2.7;
+    public static double intake2Time = 3.0;
+    public static double colorDetect = 3.0;
+    public static double holdTurrPow = 0.1;
+
+    // Ball color detection: 0 = no ball, 1 = green, 2 = purple
+    int b1 = 0, b2 = 0, b3 = 0;
+    boolean gpp = false, pgp = false, ppg = false;
+    double powPID = 0.0;
+    double bearing = 0.0;
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+                return !flywheel.getSteady();
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                limelightManager.update();
+                int id = limelightManager.detectFiducial();
+
+                if (id == 21) gpp = true;
+                else if (id == 22) pgp = true;
+                else if (id == 23) ppg = true;
+
+                TELE.addData("Fiducial ID", id);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg) {
+                    LimelightManager.LimelightMode mode = redAlliance ?
+                            LimelightManager.LimelightMode.RED_GOAL :
+                            LimelightManager.LimelightMode.BLUE_GOAL;
+                    limelightManager.switchMode(mode);
+
+                    double turretTarget = redAlliance ? turret_redFar : turret_blueFar;
+                    double turretPID = servo.setTurrPos(turretTarget);
+                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPower(-turretPID);
+                    return !servo.turretEqual(turretTarget);
+                }
+                return true;
+            }
+        };
+    }
+
+    public Action spindex(double spindexer, int vel) {
+        return new Action() {
+            double spinPID = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                spinPID = servo.setSpinPos(spindexer);
+                robot.spin1.setPower(spinPID);
+                robot.spin2.setPower(-spinPID);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+                teleStart = drive.localizer.getPose();
+
+                if (servo.spinEqual(spindexer)){
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Shoot(int vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+                detectTag();
+
+                teleStart = drive.localizer.getPose();
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                    robot.transferServo.setPosition(transferServo_out);
+                    robot.turr1.setPower(holdTurrPow);
+                    robot.turr2.setPower(holdTurrPow);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = spindexer_intakePos1;
+            double stamp = 0.0;
+            int ticker = 0;
+            double pow = 1.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                robot.intake.setPower(pow);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if (!servo.spinEqual(position)){
+                    double spinPID = servo.setSpinPos(position);
+                    robot.spin1.setPower(spinPID);
+                    robot.spin2.setPower(-spinPID);
+                }
+
+                if (s1D < 43 && servo.spinEqual(position) && getRuntime() - stamp > 0.5){
+                    if (s2D > 60){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos2;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos1;
+                        }
+                    } else if (s3D > 33){
+                        if (servo.spinEqual(spindexer_intakePos1)){
+                            position = spindexer_intakePos3;
+                        } else if (servo.spinEqual(spindexer_intakePos2)){
+                            position = spindexer_intakePos1;
+                        } else if (servo.spinEqual(spindexer_intakePos3)){
+                            position = spindexer_intakePos2;
+                        }
+                    }
+                    stamp = getRuntime();
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 43.0 && s2D < 60.0 && s3D < 33.0) || getRuntime() - stamp > intakeTime) {
+                    robot.spin1.setPower(0);
+                    robot.spin2.setPower(0);
+                    if (getRuntime() - stamp - intakeTime < 1){
+                        pow = -2*(getRuntime() - stamp - intakeTime);
+                        return true;
+                    } else {
+                        robot.intake.setPower(0);
+                        return false;
+                    }
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect(int vel) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                velo = flywheel.getVelo(robot.shooter1.getCurrentPosition(), robot.shooter2.getCurrentPosition());
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 43) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 60) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 33) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+        flywheel = new FlywheelV2();
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+        servo = new Servos(hardwareMap);
+        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
+        limelightManager.init();
+        limelightManager.switchMode(LimelightManager.LimelightMode.OBELISK_DETECTION);
+
+        //TODO: add positions to develop auto
+        
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(0,0,0))
+                .strafeToLinearHeading(new Vector2d(rfx1, rfy1), rfh1);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            if (gamepad2.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
+            double turrPID;
+
+            if (redAlliance){
+                turrPID = servo.setTurrPos(turret_detectRedClose);
+            } else {
+                turrPID = servo.setTurrPos(turret_detectBlueClose);
+            }
+
+            robot.turr1.setPower(turrPID);
+            robot.turr2.setPower(-turrPID);
+
+            robot.hood.setPosition(hoodAutoFar);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            TELE.addData("Velocity", velo);
+            TELE.addData("Turret Pos", servo.getTurrPos());
+            TELE.addData("Spin Pos", servo.getSpinPos());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            initShooter(AUTO_FAR_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            robot.transfer.setPower(1);
+
+            shootingSequence();
+
+            robot.transfer.setPower(0);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+            
+            Actions.runBlocking(park.build());
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+    //TODO: adjust this according to Teleop numbers
+    public void detectTag() {
+        limelightManager.update();
+        bearing = limelightManager.getBearing();
+        double turretPos = servo.getTurrPos() - (bearing / 1300);
+        double turretPID = servo.setTurrPos(turretPos);
+        robot.turr1.setPower(turretPID);
+        robot.turr2.setPower(-turretPID);
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_FAR_VEL),
+                        Shoot(AUTO_FAR_VEL)
+                )
+        );
+    }
+}

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

@@ -1,812 +0,0 @@
-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

@@ -1,438 +0,0 @@
-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/Blue_V2.java

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

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

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

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

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

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

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

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

@@ -1,919 +0,0 @@
-package org.firstinspires.ftc.teamcode.autonomous.disabled;
-
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootH;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootX;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bShootY;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.byPrep;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootH;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootX;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rShootY;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rhPrep;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rxPrep;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ryPrep;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ParallelAction;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TranslationalVelConstraint;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-import org.firstinspires.ftc.teamcode.utils.Spindexer;
-import org.firstinspires.ftc.teamcode.utils.Targeting;
-import org.firstinspires.ftc.teamcode.utils.Turret;
-
-@Disabled
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
-public class Auto_LT_Close_12Ball extends LinearOpMode {
-    public static double shoot0Vel = 2300, shoot0Hood = 0.93;
-    public static double autoSpinStartPos = 0.2;
-    public static double shoot0SpinSpeedIncrease = 0.014;
-
-    public static double spindexerSpeedIncrease = 0.02;
-
-    public static double obeliskTurrPos = 0.53;
-    public static double normalIntakeTime = 3.0;
-    public static double shoot1Turr = 0.57;
-    public static double shoot0XTolerance = 1.0;
-    public static double turretShootPos = 0.53;
-    public static double shootAllTime = 1.8;
-    public static double shoot0Time = 1.6;
-    public static double intake1Time = 3.0;
-    public static double flywheel0Time = 3.5;
-    public static double pickup1Speed = 17;
-    // ---- SECOND SHOT / PICKUP ----
-    public static double shoot1Vel = 2300;
-    public static double shoot1Hood = 0.93;
-
-    public static double shootAllVelocity = 2500;
-    public static double shootAllHood = 0.78;
-    // ---- PICKUP TIMING ----
-    public static double pickup1Time = 3.0;
-    // ---- PICKUP POSITION TOLERANCES ----
-    public static double pickup1XTolerance = 2.0;
-    public static double pickup1YTolerance = 2.0;
-    // ---- OBELISK DETECTION ----
-    public static double obelisk1Time = 1.5;
-    public static double obelisk1XTolerance = 2.0;
-    public static double obelisk1YTolerance = 2.0;
-    public static double shoot1ToleranceX = 2.0;
-    public static double shoot1ToleranceY = 2.0;
-    public static double shoot1Time = 2.0;
-    public static double shootCycleTime = 2.5;
-    public int motif = 0;
-    Robot robot;
-    MultipleTelemetry TELE;
-    MecanumDrive drive;
-    Servos servos;
-    Spindexer spindexer;
-    Flywheel flywheel;
-    Turret turret;
-    Targeting targeting;
-    Targeting.Settings targetingSettings;
-    private double x1, y1, h1;
-
-    private double x2a, y2a, h2a, t2a;
-
-    private double x2b, y2b, h2b, t2b;
-    private double x2c, y2c, h2c, t2c;
-
-    private double x3a, y3a, h3a;
-    private double x3b, y3b, h3b;
-    private double x4a, y4a, h4a;
-    private double x4b, y4b, h4b;
-
-    private double xShoot, yShoot, hShoot;
-    private double xGate, yGate, hGate;
-    private double xPrep, yPrep, hPrep;
-
-    private double shoot1Tangent;
-
-
-    public Action prepareShootAll(double time) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                robot.spin1.setPosition(autoSpinStartPos);
-                robot.spin2.setPosition(1 - autoSpinStartPos);
-
-                robot.transferServo.setPosition(transferServo_out);
-
-                turret.setTurret(turretShootPos);
-
-                robot.intake.setPower(-((System.currentTimeMillis() - stamp)) / 1000);
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return (System.currentTimeMillis() - stamp) < (time * 1000);
-
-            }
-        };
-    }
-
-    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
-        return new Action() {
-            int ticker = 1;
-
-            double stamp = 0.0;
-
-            double velo = vel;
-
-            int shooterTicker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                robot.intake.setPower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                robot.intake.setPower(0);
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                if (getRuntime() - stamp < shootTime) {
-
-                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
-                        robot.spin1.setPosition(autoSpinStartPos);
-                        robot.spin2.setPosition(1 - autoSpinStartPos);
-                    } else {
-                        robot.transferServo.setPosition(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = robot.spin1.getPosition();
-                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
-                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
-                    }
-
-                    return true;
-
-                } else {
-                    robot.transferServo.setPosition(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
-
-                    return false;
-
-                }
-
-            }
-        };
-    }
-
-    public Action shootAllAuto(double shootTime, double spindexSpeed) {
-        return new Action() {
-            int ticker = 1;
-
-            double stamp = 0.0;
-
-            double velo = 0.0;
-
-            int shooterTicker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                robot.intake.setPower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                robot.intake.setPower(0);
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                if (getRuntime() - stamp < shootTime) {
-
-                    if (shooterTicker == 0 && !servos.spinEqual(autoSpinStartPos)) {
-                        robot.spin1.setPosition(autoSpinStartPos);
-                        robot.spin2.setPosition(1 - autoSpinStartPos);
-                    } else {
-                        robot.transferServo.setPosition(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = robot.spin1.getPosition();
-                        robot.spin1.setPosition(prevSpinPos + spindexSpeed);
-                        robot.spin2.setPosition(1 - prevSpinPos - spindexSpeed);
-                    }
-
-                    return true;
-
-                } else {
-                    robot.transferServo.setPosition(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
-
-                    return false;
-
-                }
-            }
-        };
-    }
-
-    public Action intake(double intakeTime) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                spindexer.processIntake();
-                robot.intake.setPower(1);
-
-                motif = turret.detectObelisk();
-
-                spindexer.ballCounterLight();
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return (System.currentTimeMillis() - stamp) < (intakeTime * 1000);
-
-            }
-        };
-    }
-
-    public Action detectObelisk(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance,
-            double turrPos
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                motif = turret.detectObelisk();
-
-                robot.turr1.setPosition(turrPos);
-                robot.turr2.setPosition(1 - turrPos);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageFlywheel(
-            double vel,
-            double hoodPos,
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                flywheel.manageFlywheel(vel);
-                robot.hood.setPosition(hoodPos);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageShooterAuto(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
-
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robotX - goalX;  // delta x from robot to goal
-                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-                turret.trackGoal(deltaPose);
-
-                robot.hood.setPosition(targetingSettings.hoodAngle);
-
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageFlywheelAuto(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
-
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robotX - goalX;  // delta x from robot to goal
-                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-
-                robot.hood.setPosition(targetingSettings.hoodAngle);
-
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        robot = new Robot(hardwareMap);
-
-        TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        flywheel = new Flywheel(hardwareMap);
-
-        targeting = new Targeting();
-        targetingSettings = new Targeting.Settings(0.0, 0.0);
-
-        spindexer = new Spindexer(hardwareMap);
-
-        servos = new Servos(hardwareMap);
-
-        robot.limelight.pipelineSwitch(1);
-
-        turret = new Turret(robot, TELE, robot.limelight);
-
-        turret.setTurret(0.4);
-
-        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-        robot.spin1.setPosition(autoSpinStartPos);
-        robot.spin2.setPosition(1 - autoSpinStartPos);
-
-        robot.transferServo.setPosition(transferServo_out);
-
-        TrajectoryActionBuilder shoot0 = null;
-        TrajectoryActionBuilder pickup1 = null;
-        TrajectoryActionBuilder shoot1 = null;
-        TrajectoryActionBuilder pickup2 = null;
-        TrajectoryActionBuilder shoot2 = null;
-        TrajectoryActionBuilder pickup3 = null;
-        TrajectoryActionBuilder shoot3 = null;
-
-        robot.limelight.start();
-
-        robot.light.setPosition(1);
-
-        while (opModeInInit()) {
-
-            robot.hood.setPosition(shoot0Hood);
-
-            if (gamepad2.crossWasPressed()) {
-                redAlliance = !redAlliance;
-            }
-
-            if (redAlliance) {
-                robot.light.setPosition(0.28);
-
-                // ---- FIRST SHOT ----
-                x1 = rx1;
-                y1 = ry1;
-                h1 = rh1;
-
-                // ---- PICKUP PATH ----
-                x2a = rx2a;
-                y2a = ry2a;
-                h2a = rh2a;
-                x2b = rx2b;
-                y2b = ry2b;
-                h2b = rh2b;
-                x3a = rx3a;
-                y3a = ry3a;
-                h3a = rh3a;
-                x3b = rx3b;
-                y3b = ry3b;
-                h3b = rh3b;
-                x4a = rx4a;
-                y4a = ry4a;
-                h4a = rh4a;
-                x4b = rx4b;
-                y4b = ry4b;
-                h4b = rh4b;
-                xPrep = rxPrep;
-                yPrep = ryPrep;
-                hPrep = rhPrep;
-                xShoot = rShootX;
-                yShoot = rShootY;
-                hShoot = rShootH;
-
-
-            } else {
-                robot.light.setPosition(0.6);
-
-                // ---- FIRST SHOT ----
-                x1 = bx1;
-                y1 = by1;
-                h1 = bh1;
-
-                // ---- PICKUP PATH ----
-                x2a = bx2a;
-                y2a = by2a;
-                h2a = bh2a;
-                x2b = bx2b;
-                y2b = by2b;
-                h2b = bh2b;
-                x3a = bx3a;
-                y3a = by3a;
-                h3a = bh3a;
-                x3b = bx3b;
-                y3b = by3b;
-                h3b = bh3b;
-                x4a = bx4a;
-                y4a = by4a;
-                h4a = bh4a;
-                x4b = bx4b;
-                y4b = by4b;
-                h4b = bh4b;
-
-                xPrep = bxPrep;
-                yPrep = byPrep;
-                hPrep = bhPrep;
-                xShoot = bShootX;
-                yShoot = bShootY;
-                hShoot = bShootH;
-
-            }
-
-            shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                    .strafeToLinearHeading(new Vector2d(x1, y1), h1);
-
-            pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
-                    .strafeToLinearHeading(new Vector2d(x2a, y2a), h2a)
-                    .strafeToLinearHeading(new Vector2d(x2b, y2b), h2b,
-                            new TranslationalVelConstraint(pickup1Speed));
-
-            shoot1 = drive.actionBuilder(new Pose2d(x2b, y2b, h2b))
-                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
-
-            pickup2 = drive.actionBuilder(new Pose2d(xShoot, yShoot, hShoot))
-                    .strafeToLinearHeading(new Vector2d(x3a, y3a), h3a)
-                    .strafeToLinearHeading(new Vector2d(x3b, y3b), h3b,
-                            new TranslationalVelConstraint(pickup1Speed));
-
-            shoot2 = drive.actionBuilder(new Pose2d(x3b, y3b, h3b))
-                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
-
-            pickup3 = drive.actionBuilder(new Pose2d(x1, y1, h1))
-                    .strafeToLinearHeading(new Vector2d(x4a, y4a), h4a)
-                    .strafeToLinearHeading(new Vector2d(x4b, y4b), h4b,
-                            new TranslationalVelConstraint(pickup1Speed));
-            shoot3 = drive.actionBuilder(new Pose2d(x4b, y4b, h4b))
-                    .strafeToLinearHeading(new Vector2d(xShoot, yShoot), hShoot);
-
-
-
-            TELE.addData("Red?", redAlliance);
-            TELE.update();
-        }
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        if (opModeIsActive()) {
-
-            robot.transfer.setPower(1);
-
-            assert shoot0 != null;
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot0.build(),
-                            manageFlywheel(
-                                    shoot0Vel,
-                                    shoot0Hood,
-                                    flywheel0Time,
-                                    x1,
-                                    0.501,
-                                    shoot0XTolerance,
-                                    0.501
-                            )
-
-                    )
-            );
-
-            Actions.runBlocking(
-                    shootAll((int) shoot0Vel, shoot0Time, shoot0SpinSpeedIncrease)
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup1.build(),
-                            manageFlywheel(
-                                    shootAllVelocity,
-                                    shootAllHood,
-                                    pickup1Time,
-                                    x2b,
-                                    y2b,
-                                    pickup1XTolerance,
-                                    pickup1YTolerance
-                            ),
-                            intake(intake1Time)
-
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageFlywheel(
-                                    shootAllVelocity,
-                                    shootAllHood,
-                                    shoot1Time,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shoot1.build(),
-                            prepareShootAll(shoot1Time)
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageShooterAuto(
-                                    shootAllTime,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                    )
-
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup2.build(),
-                            manageShooterAuto(
-                                    normalIntakeTime,
-                                    x2b,
-                                    y2b,
-                                    pickup1XTolerance,
-                                    pickup1YTolerance
-                            ),
-                            intake(normalIntakeTime)
-
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageFlywheelAuto(
-                                    shootCycleTime,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shoot2.build(),
-                            prepareShootAll(shootCycleTime)
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageShooterAuto(
-                                    shootAllTime,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                    )
-
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup3.build(),
-                            manageShooterAuto(
-                                    normalIntakeTime,
-                                    x2b,
-                                    y2b,
-                                    pickup1XTolerance,
-                                    pickup1YTolerance
-                            ),
-                            intake(normalIntakeTime)
-
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageFlywheelAuto(
-                                    shootCycleTime,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shoot3.build(),
-                            prepareShootAll(shootCycleTime)
-                    )
-            );
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            manageShooterAuto(
-                                    shootAllTime,
-                                    0.501,
-                                    0.501,
-                                    0.501,
-                                    0.501
-                            ),
-                            shootAllAuto(shootAllTime, spindexerSpeedIncrease)
-                    )
-
-            );
-
-
-            TELE.addLine("finished");
-            TELE.update();
-
-            sleep(2000);
-
-        }
-
-    }
-}

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

@@ -1,804 +0,0 @@
-package org.firstinspires.ftc.teamcode.autonomous.disabled;
-
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bh4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.bx4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.by4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rh4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.rx4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry1;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry2b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry3b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4a;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.ry4b;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodAuto;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_blueClose;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turret_redClose;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.AUTO_CLOSE_VEL;
-import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinPow;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ParallelAction;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.SequentialAction;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TranslationalVelConstraint;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-
-import java.util.List;
-@Disabled
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
-public class ProtoAutoClose_V3 extends LinearOpMode {
-    public static double intake1Time = 2.7;
-    public static double intake2Time = 3.0;
-    public static double colorDetect = 3.0;
-    public static double holdTurrPow = 0.01; // power to hold turret in place
-    public static double slowSpeed = 30.0;
-    Robot robot;
-    MultipleTelemetry TELE;
-    MecanumDrive drive;
-    Flywheel flywheel;
-    Servos servo;
-    double velo = 0.0;
-    boolean gpp = false;
-    boolean pgp = false;
-    boolean ppg = false;
-    public static double spinUnjamTime = 0.6;
-    double powPID = 0.0;
-    double bearing = 0.0;
-    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
-    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
-    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
-
-    public Action initShooter(int vel) {
-        return new Action() {
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
-                TELE.addData("Velocity", velo);
-                TELE.update();
-
-                return !flywheel.getSteady();
-            }
-        };
-    }
-
-    public Action Obelisk() {
-        return new Action() {
-            int id = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                LLResult result = robot.limelight.getLatestResult();
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
-
-                }
-
-                if (id == 21) {
-                    gpp = true;
-                } else if (id == 22) {
-                    pgp = true;
-                } else if (id == 23) {
-                    ppg = true;
-                }
-
-                TELE.addData("Velocity", velo);
-                TELE.addData("21", gpp);
-                TELE.addData("22", pgp);
-                TELE.addData("23", ppg);
-                TELE.update();
-
-                if (gpp || pgp || ppg) {
-                    if (redAlliance) {
-                        robot.limelight.pipelineSwitch(3);
-                        robot.turr1.setPosition(turret_redClose);
-                        robot.turr2.setPosition(1 - turret_redClose);
-                        return false;
-
-                    } else {
-                        robot.limelight.pipelineSwitch(2);
-                        double turretPID = turret_blueClose;
-                        robot.turr1.setPosition(turretPID);
-                        robot.turr2.setPosition(1 - turretPID);
-                        return false;
-                    }
-                } else {
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action spindex(double spindexer, int vel) {
-        return new Action() {
-            double spinPID = 0.0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
-                spinPID = servo.setSpinPos(spindexer);
-                robot.spin1.setPosition(spinPID);
-                robot.spin2.setPosition(-spinPID);
-                TELE.addData("Velocity", velo);
-                TELE.addLine("spindex");
-                TELE.update();
-
-                drive.updatePoseEstimate();
-                teleStart = drive.localizer.getPose();
-
-                if (servo.spinEqual(spindexer)) {
-                    robot.spin1.setPosition(0);
-                    robot.spin2.setPosition(0);
-
-                    return false;
-                } else {
-                    return true;
-                }
-            }
-        };
-    }
-
-
-    public Action Shoot(int vel) {
-        return new Action() {
-            int ticker = 1;
-            double initPos = 0.0;
-            double finalPos = 0.0;
-            boolean zeroNeeded = false;
-            boolean zeroPassed = false;
-            double currentPos = 0.0;
-            double prevPos = 0.0;
-            double stamp = 0.0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", velo);
-                TELE.addLine("shooting");
-                TELE.update();
-
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                robot.intake.setPower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                robot.intake.setPower(0);
-
-                if (getRuntime() - stamp < 2.7) {
-
-                    robot.transferServo.setPosition(transferServo_in);
-
-                    robot.spin1.setPosition(-spinPow);
-                    robot.spin2.setPosition(spinPow);
-                    return true;
-
-                } else {
-                    robot.transferServo.setPosition(transferServo_out);
-                    return false;
-                }
-
-            }
-        };
-    }
-
-    public Action spindexUnjam(double jamTime) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-
-
-                ticker++;
-
-                if (ticker == 1) {
-                    stamp = getRuntime();
-                }
-
-                if (ticker % 12 < 6) {
-
-                    robot.spin1.setPosition(-1);
-                    robot.spin2.setPosition(1);
-
-                } else {
-                    robot.spin1.setPosition(1);
-                    robot.spin2.setPosition(-1);
-                }
-
-                if (getRuntime() - stamp > jamTime+0.4) {
-
-                    robot.intake.setPower(0.5);
-
-                    return false;
-                }
-                else if (getRuntime() - stamp > jamTime) {
-
-                    robot.intake.setPower(-(getRuntime()-stamp-jamTime)*2.5);
-
-                    return true;
-                }
-
-                else {
-                    robot.intake.setPower(1);
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action intake(double intakeTime) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-            double spinCurrentPos = 0.0;
-            double spinInitPos = 0.0;
-            boolean reverse = false;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                if (ticker % 60 < 12) {
-
-                    robot.spin1.setPosition(-1);
-                    robot.spin2.setPosition(1);
-
-                } else if (ticker % 60 < 30) {
-                    robot.spin1.setPosition(-0.5);
-                    robot.spin2.setPosition(0.5);
-                }
-                else if (ticker % 60 < 42) {
-                    robot.spin1.setPosition(1);
-                    robot.spin2.setPosition(-1);
-                }
-                else {
-                    robot.spin1.setPosition(0.5);
-                    robot.spin2.setPosition(-0.5);
-                }
-                robot.intake.setPower(1);
-                TELE.addData("Reverse?", reverse);
-                TELE.update();
-
-                if (getRuntime() - stamp > intakeTime) {
-                    if (reverse) {
-                        robot.spin1.setPosition(-1);
-                        robot.spin2.setPosition(1);
-                    } else {
-                        robot.spin1.setPosition(1);
-                        robot.spin2.setPosition(-1);
-                    }
-                    return false;
-                } else {
-                    if (ticker % 4 == 0) {
-                        spinCurrentPos = servo.getSpinPos();
-                        reverse = Math.abs(spinCurrentPos - spinInitPos) < 0.03;
-                        spinInitPos = spinCurrentPos;
-                    }
-
-                    return true;
-                }
-            }
-        };
-    }
-
-    public Action ColorDetect(int vel) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = getRuntime();
-                }
-                ticker++;
-
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
-                double s1D = robot.color1.getDistance(DistanceUnit.MM);
-                double s2D = robot.color2.getDistance(DistanceUnit.MM);
-                double s3D = robot.color3.getDistance(DistanceUnit.MM);
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                if (s1D < 43) {
-
-                    double green = robot.color1.getNormalizedColors().green;
-                    double red = robot.color1.getNormalizedColors().red;
-                    double blue = robot.color1.getNormalizedColors().blue;
-
-                    double gP = green / (green + red + blue);
-
-                    if (gP >= 0.4) {
-                        b1 = 2;
-                    } else {
-                        b1 = 1;
-                    }
-                }
-
-                if (s2D < 60) {
-
-                    double green = robot.color2.getNormalizedColors().green;
-                    double red = robot.color2.getNormalizedColors().red;
-                    double blue = robot.color2.getNormalizedColors().blue;
-
-                    double gP = green / (green + red + blue);
-
-                    if (gP >= 0.4) {
-                        b2 = 2;
-                    } else {
-                        b2 = 1;
-                    }
-                }
-
-                if (s3D < 33) {
-
-                    double green = robot.color3.getNormalizedColors().green;
-                    double red = robot.color3.getNormalizedColors().red;
-                    double blue = robot.color3.getNormalizedColors().blue;
-
-                    double gP = green / (green + red + blue);
-
-                    if (gP >= 0.4) {
-                        b3 = 2;
-                    } else {
-                        b3 = 1;
-                    }
-                }
-
-                TELE.addData("Velocity", velo);
-                TELE.addLine("Detecting");
-                TELE.addData("Distance 1", s1D);
-                TELE.addData("Distance 2", s2D);
-                TELE.addData("Distance 3", s3D);
-                TELE.addData("B1", b1);
-                TELE.addData("B2", b2);
-                TELE.addData("B3", b3);
-                TELE.update();
-
-                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
-            }
-        };
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        robot = new Robot(hardwareMap);
-
-        flywheel = new Flywheel(hardwareMap);
-
-        TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        drive = new MecanumDrive(hardwareMap, new Pose2d(
-                0, 0, 0
-        ));
-
-        servo = new Servos(hardwareMap);
-
-        robot.limelight.pipelineSwitch(1);
-        robot.limelight.start();
-
-        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
-                new TranslationalVelConstraint(slowSpeed));
-//
-//        TrajectoryActionBuilder lever = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
-//                .strafeToLinearHeading(new Vector2d(bx2c, by2c), bh2c);
-
-        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
-                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
-                        new TranslationalVelConstraint(slowSpeed));
-
-        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-        TrajectoryActionBuilder pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
-                .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
-                        new TranslationalVelConstraint(slowSpeed));
-        TrajectoryActionBuilder shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
-                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-        while (opModeInInit()) {
-
-            if (gamepad2.dpadUpWasPressed()) {
-                hoodAuto -= 0.01;
-            }
-
-            if (gamepad2.dpadDownWasPressed()) {
-                hoodAuto += 0.01;
-            }
-
-            if (gamepad2.crossWasPressed()) {
-                redAlliance = !redAlliance;
-
-            }
-
-            double turretPID;
-            if (redAlliance) {
-                turretPID = turret_redClose;
-
-                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-                pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                        .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
-                        .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b,
-                                new TranslationalVelConstraint(slowSpeed));
-
-//                lever = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-//                        .strafeToLinearHeading(new Vector2d(rx2c, ry2c), rh2c);
-
-                shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-                pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                        .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
-                        .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b,
-                                new TranslationalVelConstraint(slowSpeed));
-
-                shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-                pickup3 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
-                        .strafeToLinearHeading(new Vector2d(rx4a, ry4a), rh4a)
-                        .strafeToLinearHeading(new Vector2d(rx4b, ry4b), rh4b,
-                                new TranslationalVelConstraint(slowSpeed));
-                shoot3 = drive.actionBuilder(new Pose2d(rx4b, ry4b, rh4b))
-                        .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
-
-            } else {
-                turretPID = turret_blueClose;
-
-                shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-                pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                        .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
-                        .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b,
-                                new TranslationalVelConstraint(slowSpeed));
-
-                shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-                pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                        .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
-                        .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b,
-                                new TranslationalVelConstraint(slowSpeed));
-
-                shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-
-                pickup3 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
-                        .strafeToLinearHeading(new Vector2d(bx4a, by4a), bh4a)
-                        .strafeToLinearHeading(new Vector2d(bx4b, by4b), bh4b,
-                                new TranslationalVelConstraint(slowSpeed));
-                shoot3 = drive.actionBuilder(new Pose2d(bx4b, by4b, bh4b))
-                        .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
-            }
-
-            robot.turr1.setPosition(turretPID);
-            robot.turr2.setPosition(1 - turretPID);
-
-            robot.hood.setPosition(hoodAuto);
-
-            robot.transferServo.setPosition(transferServo_out);
-
-            TELE.addData("Red?", redAlliance);
-            TELE.update();
-        }
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        if (opModeIsActive()) {
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot0.build(),
-                            initShooter(AUTO_CLOSE_VEL)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup1.build(),
-                            intake(intake1Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new SequentialAction(
-                            shoot1.build(),
-                            spindexUnjam(spinUnjamTime)
-
-                    )
-            );
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup2.build(),
-                            intake(intake2Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot2.build(),
-                            spindexUnjam(spinUnjamTime)
-                    )
-            );
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            pickup3.build(),
-                            intake(intake2Time)
-                    )
-            );
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            Actions.runBlocking(
-                    new ParallelAction(
-                            shoot3.build(),
-                            spindexUnjam(spinUnjamTime)
-
-                    )
-            );
-
-            robot.transfer.setPower(1);
-
-            shootingSequence();
-
-            robot.transfer.setPower(0);
-
-            drive.updatePoseEstimate();
-
-            teleStart = drive.localizer.getPose();
-
-            TELE.addData("Velocity", velo);
-            TELE.addLine("finished");
-            TELE.update();
-
-            sleep(2000);
-
-        }
-
-    }
-
-    //TODO: adjust this according to Teleop numbers
-    public void detectTag() {
-        LLResult result = robot.limelight.getLatestResult();
-        if (result != null) {
-            if (result.isValid()) {
-                bearing = result.getTx();
-            }
-        }
-        double turretPos = (bearing / 1300);
-        robot.turr1.setPosition(turretPos);
-        robot.turr2.setPosition(1 - turretPos);
-    }
-
-    public void shootingSequence() {
-        TELE.addLine("Shooting");
-        TELE.update();
-        Actions.runBlocking(Shoot(AUTO_CLOSE_VEL));
-    }
-
-    public void sequence1() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence2() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence3() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence4() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence5() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-
-    public void sequence6() {
-        Actions.runBlocking(
-                new SequentialAction(
-                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL),
-                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
-                        Shoot(AUTO_CLOSE_VEL)
-                )
-        );
-    }
-}

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

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

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

@@ -1,16 +1,5 @@
 package org.firstinspires.ftc.teamcode.constants;
 
-import com.acmerobotics.dashboard.config.Config;
-
-@Config
 public class Color {
     public static boolean redAlliance = true;
-    public static double Light0 = 0.28, Light1 = 0.67, Light2 = 0.36, Light3 = 0.5;
-    public static double LightGreen = 0.5;
-    public static double LightPurple = 0.715;
-    public static double LightOrange = 0.33;
-    public static double LightRed = 0.28;
-    public static double LightBlue = 0.6;
-
-    public static double colorFilterAlpha = 1;
 }

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

@@ -1,62 +0,0 @@
-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

@@ -0,0 +1,33 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses {
+
+    public static double goalHeight = 42; //in inches
+
+    public static double turretHeight = 12;
+
+    public static double relativeGoalHeight = goalHeight - turretHeight;
+
+    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
+
+    public static double rx1 = 45, ry1 = -7, rh1 = 0;
+    public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
+    public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
+    public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
+    public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
+
+    public static double bx1 = 45, by1 = 6, bh1 = 0;
+    public static double bx2a = 53, by2a = -7, bh2a = Math.toRadians(-140);
+    public static double bx2b = 23, by2b = -39, bh2b = Math.toRadians(-140);
+    public static double bx3a = 56, by3a = -34, bh3a = Math.toRadians(-140);
+    public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
+
+    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
+
+    public static Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
+
+}

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

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

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

@@ -5,43 +5,41 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.18; //0.13;
+    public static double spindexer_intakePos1 = 0.34;
 
-    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.5;
 
-    public static double spindexer_intakePos3 = 0.56; //0.53;//0.66;
+    public static double spindexer_intakePos3 = 0.66;
 
-    public static double spindexer_outtakeBall3 = 0.84; //0.65; //0.24;
+    public static double spindexer_outtakeBall3 = 0.42;
-    public static double spindexer_outtakeBall3b = 0.27; //0.65; //0.24;
 
-    public static double spindexer_outtakeBall2 = 0.66; //0.46; //0.6;
+    public static double spindexer_outtakeBall2 = 0.74;
-    public static double spindexer_outtakeBall1 = 0.47; //0.27; //0.4;
+    public static double spindexer_outtakeBall1 = 0.58;
-    public static double spinStartPos = 0.10;
-    public static double spinEndPos = 0.95;
-
-    public static double shootAllSpindexerSpeedIncrease = 0.014;
 
     public static double transferServo_out = 0.15;
 
     public static double transferServo_in = 0.38;
 
-    public static double hoodAuto = 0.27;
+    public static double turret_range = 0.9;
 
-    public static double hoodOffset = -0.04; // offset from 0.93
+    public static double hoodDefault = 0.6;
 
-    public static double turret_redClose = 0;
+    public static double hoodAuto = 0.55;
-    public static double turret_blueClose = 0;
 
-    // These values are ADDED to turrDefault
+    public static double hoodAutoFar = 0.5; //TODO: change this;
-    public static double redObeliskTurrPos0 = -0.35;
+
-    public static double redObeliskTurrPos1 = 0.15;
+    public static double hoodHigh = 0.21; //TODO: change this;
-    public static double redObeliskTurrPos2 = 0.16;
+
-    public static double redObeliskTurrPos3 = 0.17;
+    public static double hoodLow = 1.0; //TODO: change this;
-    public static double blueObeliskTurrPos0 = 0.35;
+
-    public static double blueObeliskTurrPos1 = -0.15;
+    public static double turret_redClose = 0.42;
-    public static double blueObeliskTurrPos2 = -0.16;
+    public static double turret_blueClose = 0.38;
-    public static double blueObeliskTurrPos3 = -0.17;
+    public static double turret_redFar = 0.5; //TODO: change this
-    public static double redTurretShootPos = 0.05;
+    public static double turret_blueFar = 0.5; // TODO: change this
-    public static double blueTurretShootPos = -0.05;
+
+    public static double turret_detectRedClose = 0.2;
+
+    public static double turret_detectBlueClose = 0.6;
+    public static double turrDefault = 0.40;
 
 }

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

@@ -1,13 +1,24 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 import com.acmerobotics.dashboard.config.Config;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
-@Disabled
 @Config
 public class ShooterVars {
+    public static double turret_GearRatio = 0.9974;
+
+    public static double turret_Range = 355;
+
+    public static int velTolerance = 300;
+
+    public static int initTolerance = 1000;
+
+    public static int maxVel = 4500;
+    public static double waitTransferOut = 0.3;
+    public static double waitTransfer = 0.4;
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
 
     // VELOCITY CONSTANTS
-    public static int AUTO_CLOSE_VEL = 3175; //3300;
+    public static int AUTO_CLOSE_VEL = 3025; //3300;
-
+    public static int AUTO_FAR_VEL = 4000; //TODO: test this
 }

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

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

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

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

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

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

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

@@ -5,9 +5,7 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.*;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -16,20 +14,12 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.ProfileParams;
-import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2d;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -56,131 +46,13 @@ 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
@@ -192,33 +64,62 @@ public final class MecanumDrive {
 
         // drive model parameters
         public double inPerTick = 0.001978956;
-        public double lateralInPerTick = 0.001367789463080072;
+        public double lateralInPerTick = 0.0013863732202094405;
-        public double trackWidthTicks = 6913.070212622687;
+        public double trackWidthTicks = 6488.883015684446;
 
         // feedforward parameters (in tick units)
-        public double kS = 1.23;
+        public double kS = 1.2147826978829488;
-        public double kV = 0.00035;
+        public double kV = 0.00032;
-        public double kA = 0.00008;
+        public double kA = 0.000046;
 
         // path profile parameters (in inches)
-        public double maxWheelVel = 70;
+        public double maxWheelVel = 180;
         public double minProfileAccel = -40;
-        public double maxProfileAccel = 70;
+        public double maxProfileAccel = 180;
 
         // turn profile parameters (in radians)
-        public double maxAngVel = 2 *Math.PI; // shared with path
+        public double maxAngVel = 4* Math.PI; // shared with path
-        public double maxAngAccel = 2 * Math.PI;
+        public double maxAngAccel = 4* Math.PI;
 
         // path controller gains
-        public double axialGain = 6.0;
+        public double axialGain = 4;
-        public double lateralGain = 6.0;
+        public double lateralGain = 4;
-        public double headingGain = 6.0; // shared with turn
+        public double headingGain = 4; // shared with turn
 
         public double axialVelGain = 0.0;
         public double lateralVelGain = 0.0;
         public double headingVelGain = 0.0; // shared with turn
     }
 
+    public static Params PARAMS = new Params();
+
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            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;
@@ -243,13 +144,13 @@ public final class MecanumDrive {
         }
 
         @Override
-        public Pose2d getPose() {
+        public void setPose(Pose2d pose) {
-            return pose;
+            this.pose = pose;
         }
 
         @Override
-        public void setPose(Pose2d pose) {
+        public Pose2d getPose() {
-            this.pose = pose;
+            return pose;
         }
 
         @Override
@@ -315,11 +216,64 @@ 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 final double[] xPoints, yPoints;
         private double beginTs = -1;
 
+        private final double[] xPoints, yPoints;
+
         public FollowTrajectoryAction(TimeTrajectory t) {
             timeTrajectory = t;
 
@@ -345,16 +299,7 @@ public final class MecanumDrive {
                 t = Actions.now() - beginTs;
             }
 
-            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
+            if (t >= timeTrajectory.duration) {
-            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);
@@ -363,6 +308,10 @@ 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,
@@ -393,6 +342,7 @@ 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()));
@@ -500,4 +450,51 @@ public final class MecanumDrive {
             c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
         }
     }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
 }

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

@@ -16,11 +16,10 @@ import java.util.Objects;
 @Config
 public final class PinpointLocalizer implements Localizer {
     public static class Params {
-        public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
+        public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = -2088.4296466563774; // x position of the perpendicular encoder (in tick units)
+        public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
     }
 
-
     public static Params PARAMS = new Params();
 
     public final GoBildaPinpointDriver driver;
@@ -49,8 +48,6 @@ 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/TeleopV2.java

@@ -0,0 +1,903 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@TeleOp
+@Config
+public class TeleopV2 extends LinearOpMode {
+    Servos servo;
+    Flywheel flywheel;
+    public static double manualVel = 3000;
+    public static double hood = 0.5;
+    public static double hoodDefaultPos = 0.5;
+    public static double desiredTurretAngle = 180;
+    public static double velMultiplier = 20;
+    public static double shootStamp2 = 0.0;
+
+    public double vel = 3000;
+    public boolean autoVel = true;
+    public double manualOffset = 0.0;
+    public boolean autoHood = true;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    public double shootStamp = 0.0;
+    public boolean circle = false;
+    public boolean square = false;
+    public boolean triangle = false;
+    double autoHoodOffset = 0.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    boolean intake = false;
+    boolean reject = false;
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+    double headingOffset = 0.0;
+    int ticker = 0;
+    int camTicker = 0;
+    List<Double> s1G = new ArrayList<>();
+    List<Double> s2G = new ArrayList<>();
+    List<Double> s3G = new ArrayList<>();
+    List<Double> s1T = new ArrayList<>();
+    List<Double> s2T = new ArrayList<>();
+    List<Double> s3T = new ArrayList<>();
+    List<Boolean> s1 = new ArrayList<>();
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    boolean oddBallColor = false;
+    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
+    MecanumDrive drive;
+    double hoodOffset = 0.0;
+    boolean shoot1 = false;
+    // Make these class-level flags
+    boolean shootA = true;
+    boolean shootB = true;
+    boolean shootC = true;
+    boolean manualTurret = false;
+
+    boolean outtake1 = false;
+    boolean outtake2 = false;
+    boolean outtake3 = false;
+    boolean overrideTurr = false;
+
+    List<Integer> shootOrder = new ArrayList<>();
+    boolean emergency = false;
+    private double lastEncoderRevolutions = 0.0;
+    private double lastTimeStamp = 0.0;
+    private double velo1, velo;
+    private double stamp1, stamp, initPos;
+    private boolean shootAll = false;
+    private double transferStamp = 0.0;
+    private int tickerA = 1;
+    private boolean transferIn = false;
+    double turretPID = 0.0;
+    double turretPos = 0.5;
+    double spindexPID = 0.0;
+    double spindexPos = spindexer_intakePos1;
+    double error = 0.0;
+
+    public static double velPrediction(double distance) {
+
+        if (distance < 30) {
+            return 2750;
+        } else if (distance > 100) {
+            if (distance > 160) {
+                return 4200;
+            }
+            return 3700;
+        } else {
+            // linear interpolation between 40->2650 and 120->3600
+            double slope = (3700.0 - 2750.0) / (100.0 - 30);
+            return (int) Math.round(2750 + slope * (distance - 30));
+        }
+
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+        servo = new Servos(hardwareMap);
+        flywheel = new Flywheel();
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        Pose2d shootPos = teleStart;
+
+        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
+
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()) {
+
+            //DRIVETRAIN:
+
+            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
+            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
+            double rx = gamepad1.left_stick_x;
+
+            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+            double frontLeftPower = (y + x + rx) / denominator;
+            double backLeftPower = (y - x + rx) / denominator;
+            double frontRightPower = (y - x - rx) / denominator;
+            double backRightPower = (y + x - rx) / denominator;
+
+            robot.frontLeft.setPower(frontLeftPower);
+            robot.backLeft.setPower(backLeftPower);
+            robot.frontRight.setPower(frontRightPower);
+            robot.backRight.setPower(backRightPower);
+
+            // PID SERVOS
+            turretPID = servo.setTurrPos(turretPos);
+            robot.turr1.setPower(turretPID);
+            robot.turr2.setPower(-turretPID);
+
+            //TODO: make sure changing position works throughout opmode
+            if (!servo.spinEqual(spindexPos)){
+                spindexPID = servo.setSpinPos(spindexPos);
+                robot.spin1.setPower(spindexPID);
+                robot.spin2.setPower(-spindexPID);
+            } else{
+                robot.spin1.setPower(0);
+                robot.spin2.setPower(0);
+            }
+
+            //INTAKE:
+
+            if (gamepad1.rightBumperWasPressed()) {
+                intake = !intake;
+                reject = false;
+                shootAll = false;
+                emergency = false;
+                overrideTurr = false;
+
+            }
+
+            if (gamepad1.leftBumperWasPressed()) {
+                intake = false;
+                emergency = !emergency;
+
+            }
+
+            if (intake) {
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                robot.intake.setPower(1);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    spindexPos = spindexer_intakePos1 + 0.015;
+                } else {
+                    spindexPos = spindexer_intakePos1 - 0.015;
+                }
+
+            } else if (reject) {
+                robot.intake.setPower(-1);
+                spindexPos = spindexer_intakePos1;
+            } else {
+                robot.intake.setPower(0);
+            }
+
+            //COLOR:
+
+            double s1D = robot.color1.getDistance(DistanceUnit.MM);
+            double s2D = robot.color2.getDistance(DistanceUnit.MM);
+            double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+            if (s1D < 40) {
+
+                double green = robot.color1.getNormalizedColors().green;
+                double red = robot.color1.getNormalizedColors().red;
+                double blue = robot.color1.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                s1G.add(gP);
+
+                if (gP >= 0.43) {
+                    s1.add(true);
+                } else {
+                    s1.add(false);
+                }
+
+                s1T.add(getRuntime());
+
+            }
+
+            if (s2D < 40) {
+
+                double green = robot.color2.getNormalizedColors().green;
+                double red = robot.color2.getNormalizedColors().red;
+                double blue = robot.color2.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                s2G.add(gP);
+
+                if (gP >= 0.43) {
+                    s2.add(true);
+                } else {
+                    s2.add(false);
+                }
+
+                s2T.add(getRuntime());
+            }
+
+            if (s3D < 30) {
+
+                double green = robot.color3.getNormalizedColors().green;
+                double red = robot.color3.getNormalizedColors().red;
+                double blue = robot.color3.getNormalizedColors().blue;
+
+                double gP = green / (green + red + blue);
+
+                s3G.add(gP);
+
+                if (gP >= 0.43) {
+                    s3.add(true);
+                } else {
+                    s3.add(false);
+                }
+
+                s3T.add(getRuntime());
+            }
+
+            if (!s1.isEmpty()) {
+                green1 = checkGreen(s1, s1T);
+            }
+            if (!s2.isEmpty()) {
+                green2 = checkGreen(s2, s2T);
+
+            }
+            if (!s3.isEmpty()) {
+                green3 = checkGreen(s3, s3T);
+            }
+
+            //SHOOTER:
+
+            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
+
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            robot.transfer.setPower(1);
+
+            //TURRET:
+
+            double offset;
+
+            double robX = drive.localizer.getPose().position.x;
+            double robY = drive.localizer.getPose().position.y;
+
+            double robotX = robX - xOffset;
+            double robotY = robY - yOffset;
+            double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+            double goalX = -10;
+            double goalY = 0;
+
+            double dx = goalX - robotX;  // delta x from robot to goal
+            double dy = goalY - robotY;  // delta y from robot to goal
+
+            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
+
+            desiredTurretAngle += manualOffset;
+
+            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
+
+            if (offset > 135) {
+                offset -= 360;
+            }
+
+            //TODO: test the camera teleop code
+            double pos = turrDefault + (error/8); // adds the overall error to the default
+
+            TELE.addData("offset", offset);
+
+            pos -= offset * (0.9 / 360);
+
+            if (pos < 0.02) {
+                pos = 0.02;
+            } else if (pos > 0.97) {
+                pos = 0.97;
+            }
+
+            if (y < 0.1 && y > -0.1 && x < 0.1 && x > -0.1 && rx < 0.1 && rx > -0.1){ //not moving
+                AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
+                AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
+
+                double bearing = 0.0;
+                if (d20 != null || d24 != null){
+                    if (d20 != null) {
+                        bearing = d20.ftcPose.bearing;
+                    }
+                    if (d24 != null) {
+                        bearing = d24.ftcPose.bearing;
+                    }
+                    overrideTurr = true;
+                    turretPos = servo.getTurrPos() - (bearing/1300);
+                    TELE.addData("Bear", bearing);
+
+                    double bearingCorrection = bearing / 1300;
+
+
+                    // deadband: ignore tiny noise
+                    if (Math.abs(bearing) > 0.3 && camTicker < 8) {
+
+                        // only accumulate if bearing direction is consistent
+                        if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
+                            error += bearingCorrection;
+                        }
+                    }
+
+                    camTicker++;
+
+                }
+
+
+            } else {
+                camTicker = 0;
+                overrideTurr = false;
+
+            }
+
+            if (manualTurret) {
+                pos = turrDefault + (manualOffset / 100);
+            }
+
+            if (!overrideTurr) {
+                turretPos = pos;
+            }
+
+            if (gamepad2.dpad_right) {
+                manualOffset -= 2;
+            } else if (gamepad2.dpad_left) {
+                manualOffset += 2;
+            }
+
+            //VELOCITY AUTOMATIC
+
+            if (autoVel) {
+                vel = velPrediction(distanceToGoal);
+            } else {
+                vel = manualVel;
+            }
+
+            if (gamepad2.right_stick_button) {
+                autoVel = true;
+            } else if (gamepad2.right_stick_y < -0.5) {
+                autoVel = false;
+                manualVel = 4100;
+            } else if (gamepad2.right_stick_y > 0.5) {
+                autoVel = false;
+                manualVel = 2700;
+            } else if (gamepad2.right_stick_x > 0.5) {
+                autoVel = false;
+                manualVel = 3600;
+            } else if (gamepad2.right_stick_x < -0.5) {
+                autoVel = false;
+                manualVel = 3100;
+            }
+
+            //HOOD:
+
+            if (autoHood) {
+                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
+            } else {
+                robot.hood.setPosition(hoodDefaultPos + hoodOffset);
+            }
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodOffset -= 0.03;
+                autoHoodOffset -= 0.02;
+
+            } else if (gamepad2.dpadDownWasPressed()) {
+                hoodOffset += 0.03;
+                autoHoodOffset += 0.02;
+
+            }
+
+            if (gamepad2.left_stick_x > 0.5) {
+                manualTurret = false;
+            } else if (gamepad2.left_stick_x < -0.5) {
+                manualOffset = 0;
+                manualTurret = false;
+                if (gamepad2.left_bumper) {
+                    drive = new MecanumDrive(hardwareMap, new Pose2d(2, 0, 0));
+                    sleep(1200);
+                }
+            }
+
+            if (gamepad2.left_stick_y < -0.5) {
+                autoHood = true;
+            } else if (gamepad2.left_stick_y > 0.5) {
+                autoHood = false;
+                hoodOffset = 0;
+                if (gamepad2.left_bumper) {
+                    xOffset = robotX;
+                    yOffset = robotY;
+                    headingOffset = robotHeading;
+                }
+            }
+
+            //SHOOT ALL:]
+
+            if (emergency) {
+                intake = false;
+                reject = true;
+
+                if (getRuntime() % 3 > 1.5) {
+                    spindexPos = 1;
+                } else {
+                    spindexPos = 0;
+                }
+
+                robot.transferServo.setPosition(transferServo_out);
+
+                robot.transfer.setPower(1);
+
+            } else if (shootAll) {
+
+                TELE.addData("100% works", shootOrder);
+
+                intake = false;
+                reject = false;
+
+                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
+                    int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
+                    boolean shootingDone = false;
+
+                    if (!outtake1) {
+                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
+                    }
+                    if (!outtake2) {
+                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                    }
+                    if (!outtake3) {
+                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
+                    }
+
+                    switch (currentSlot) {
+                        case 1:
+                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
+                            TELE.addData("shootA", shootA);
+
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootA;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 2:
+                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
+                            TELE.addData("shootB", shootB);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootB;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 3:
+                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
+                            TELE.addData("shootC", shootC);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootC;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                    }
+
+                    // Remove from the list only if shooting is complete
+                    if (shootingDone) {
+                        shootOrder.remove(0);
+                        shootStamp2 = getRuntime();
+
+                    }
+
+                } else {
+                    // Finished shooting all balls
+                    spindexPos = spindexer_intakePos1;
+                    shootA = true;
+                    shootB = true;
+                    shootC = true;
+                    reject = false;
+                    intake = true;
+                    shootAll = false;
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+
+                    overrideTurr = false;
+
+                }
+
+            }
+
+            if (gamepad2.squareWasPressed()) {
+                square = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+            }
+
+            if (gamepad2.circleWasPressed()) {
+                circle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (gamepad2.triangleWasPressed()) {
+                triangle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (square || circle || triangle) {
+
+                // Count green balls
+                int greenCount = 0;
+                if (green1) greenCount++;
+                if (green2) greenCount++;
+                if (green3) greenCount++;
+
+                // Determine the odd ball color
+                oddBallColor = greenCount < 2; // true = green, false = purple
+
+                shootOrder.clear();
+
+                // Determine shooting order based on button pressed
+                // square = odd ball first, triangle = odd ball second, circle = odd ball third
+                if (square) {
+                    // Odd ball first
+                    addOddThenRest(shootOrder, oddBallColor);
+
+                } else if (triangle) {
+                    // Odd ball second
+                    addOddInMiddle(shootOrder, oddBallColor);
+                } else if (circle) {
+                    // Odd ball last
+                    addOddLast(shootOrder, oddBallColor);
+                }
+
+                circle = false;
+                square = false;
+                triangle = false;
+
+            }
+
+            // Right bumper shoots all balls fastest, ignoring colors
+            if (gamepad2.rightBumperWasPressed()) {
+                shootOrder.clear();
+                shootStamp = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+                // Fastest order (example: slot 3 → 2 → 1)
+
+                if (ballIn(3)) {
+                    shootOrder.add(3);
+
+                }
+
+                if (ballIn(2)) {
+                    shootOrder.add(2);
+
+                }
+
+                if (ballIn(1)) {
+                    shootOrder.add(1);
+
+                }
+
+                if (!shootOrder.contains(3)) {
+
+                    shootOrder.add(3);
+                }
+
+                if (!shootOrder.contains(2)) {
+
+                    shootOrder.add(2);
+                }
+
+                if (!shootOrder.contains(1)) {
+
+                    shootOrder.add(1);
+                }
+
+                shootAll = true;
+                shootPos = drive.localizer.getPose();
+
+            }
+
+//            // Right bumper shoots all balls fastest, ignoring colors
+//            if (gamepad2.leftBumperWasPressed()) {
+//                shootOrder.clear();
+//                shootStamp = getRuntime();
+//
+//                outtake1 = false;
+//                outtake2 = false;
+//                outtake3 = false;
+//
+//                // Fastest order (example: slot 3 → 2 → 1)
+//
+//                if (ballIn(3)) {
+//                    shootOrder.add(3);
+//                }
+//
+//                if (ballIn(2)) {
+//                    shootOrder.add(2);
+//                }
+//                if (ballIn(1)) {
+//                    shootOrder.add(1);
+//                }
+//                shootAll = true;
+//                shootPos = drive.localizer.getPose();
+//
+//            }
+//
+            if (gamepad2.crossWasPressed()) {
+                emergency = true;
+
+            }
+
+            if (gamepad2.leftBumperWasPressed()) {
+                emergency = false;
+            }
+
+            //MISC:
+
+            drive.updatePoseEstimate();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+
+            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
+            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
+            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
+
+            TELE.addData("pose", drive.localizer.getPose());
+            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+            TELE.addData("distanceToGoal", distanceToGoal);
+            TELE.addData("hood", robot.hood.getPosition());
+            TELE.addData("targetVel", vel);
+
+            TELE.addData("shootOrder", shootOrder);
+            TELE.addData("oddColor", oddBallColor);
+
+            aprilTagWebcam.update();
+
+            TELE.update();
+
+            ticker++;
+
+        }
+    }
+
+    // Helper method
+    private boolean checkGreen(List<Boolean> s, List<Double> sT) {
+        if (s.isEmpty()) return false;
+
+        double lastTime = sT.get(sT.size() - 1);
+        int countTrue = 0;
+        int countWindow = 0;
+
+        for (int i = 0; i < s.size(); i++) {
+            if (lastTime - sT.get(i) <= 3.0) {  // element is within 2s of last
+                countWindow++;
+                if (s.get(i)) {
+                    countTrue++;
+                }
+            }
+        }
+
+        if (countWindow == 0) return false; // avoid divide by zero
+        return countTrue > countWindow / 2.0; // more than 50% true
+    }
+
+    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
+        // Set spin positions
+        spindexPos = spindexer;
+
+        // Check if spindexer has reached the target position
+        if (spinOk || getRuntime() - stamp > 1.5) {
+            if (tickerA == 1) {
+                transferStamp = getRuntime();
+                tickerA++;
+                TELE.addLine("tickerSet");
+            }
+
+            if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                robot.transferServo.setPosition(transferServo_in);
+                transferIn = true;
+                TELE.addLine("transferring");
+
+                return true; // still in progress
+
+            } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                robot.transferServo.setPosition(transferServo_out);
+                transferIn = false; // reset for next shot
+                tickerA = 1;        // reset ticker
+                transferStamp = 0.0;
+
+                TELE.addLine("shotFinished");
+
+                return false;       // finished shooting
+            } else {
+                TELE.addLine("sIP");
+                return true; // still in progress
+            }
+        } else {
+            robot.transferServo.setPosition(transferServo_out);
+            tickerA = 1;
+            transferStamp = getRuntime();
+            transferIn = false;
+            return true; // still moving spin
+        }
+    }
+
+    public double hoodAnglePrediction(double x) {
+        if (x < 34) {
+            double L = 1.04471;
+            double U = 0.711929;
+            double Q = 120.02263;
+            double B = 0.780982;
+            double M = 20.61191;
+            double v = 10.40506;
+
+            double inner = 1 + Q * Math.exp(-B * (x - M));
+            return L + (U - L) / Math.pow(inner, 1.0 / v);
+
+        } else {
+            // x >= 34
+            return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
+        }
+    }
+
+    void addOddThenRest(List<Integer> order, boolean oddColor) {
+        // Odd ball first
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddInMiddle(List<Integer> order, boolean oddColor) {
+
+        boolean[] used = new boolean[4];   // index 1..3
+
+        // 1) Add a NON-odd ball first
+        for (int i = 1; i <= 3; i++) {
+            if (getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 2) Add the odd ball second
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) == oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 3) Add the remaining non-odd ball third
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        TELE.addData("works", order);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddLast(List<Integer> order, boolean oddColor) {
+        // Odd ball last
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    // Returns color of ball in slot i (1-based)
+    boolean getBallColor(int slot) {
+        switch (slot) {
+            case 1:
+                return green1;
+            case 2:
+                return green2;
+            case 3:
+                return green3;
+        }
+        return false; // default
+    }
+
+    boolean ballIn(int slot) {
+        switch (slot) {
+            case 1:
+
+                if (!s1T.isEmpty()) {
+
+                    return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 2:
+
+                if (!s2T.isEmpty()) {
+
+                    return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 3:
+
+                if (!s3T.isEmpty()) {
+
+                    return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
+
+                }
+        }
+        return true; // default
+    }
+}

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

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/old.txt

@@ -0,0 +1,793 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
+import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
+import org.firstinspires.ftc.teamcode.subsystems.Transfer;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+@Disabled
+public class old extends LinearOpMode {
+
+    Robot robot;
+
+    Drivetrain drivetrain;
+
+    Intake intake;
+
+    Spindexer spindexer;
+
+    Transfer transfer;
+
+    MultipleTelemetry TELE;
+
+    GamepadEx g1;
+
+    GamepadEx g2;
+
+    public static double defaultSpeed = 1;
+
+    public static double slowMoSpeed = 0.4;
+
+    public static double power = 0.0;
+
+    public static double pos = hoodDefault;
+
+    public boolean all = false;
+
+    public int ticker = 0;
+
+    ToggleButtonReader g1RightBumper;
+
+    ToggleButtonReader g2Circle;
+
+    ToggleButtonReader g2Square;
+
+    ToggleButtonReader g2Triangle;
+
+    ToggleButtonReader g2RightBumper;
+
+    ToggleButtonReader g1LeftBumper;
+
+    ToggleButtonReader g2LeftBumper;
+
+    ToggleButtonReader g2DpadUp;
+
+    ToggleButtonReader g2DpadDown;
+
+    ToggleButtonReader g2DpadRight;
+
+    ToggleButtonReader g2DpadLeft;
+
+    public boolean leftBumper = false;
+    public double g1RightBumperStamp = 0.0;
+
+    public double g1LeftBumperStamp = 0.0;
+
+    public double g2LeftBumperStamp = 0.0;
+
+    public static int spindexerPos = 0;
+
+    public boolean green = false;
+
+    Shooter shooter;
+
+    public boolean scoreAll = false;
+
+    MecanumDrive drive;
+
+    public boolean autotrack = false;
+
+    public int last = 0;
+    public int second = 0;
+
+    public double offset = 0.0;
+
+    public static double rIn = 0.59;
+
+    public static double rOut = 0;
+
+    public boolean notShooting = true;
+
+    public boolean circle = false;
+
+    public boolean square = false;
+
+    public boolean tri = false;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(),
+                telemetry
+        );
+
+        g1 = new GamepadEx(gamepad1);
+
+        g1RightBumper = new ToggleButtonReader(
+                g1, GamepadKeys.Button.RIGHT_BUMPER
+        );
+
+        g2 = new GamepadEx(gamepad2);
+
+        g1LeftBumper = new ToggleButtonReader(
+                g1, GamepadKeys.Button.LEFT_BUMPER
+        );
+
+        g2Circle = new ToggleButtonReader(
+                g2, GamepadKeys.Button.B
+        );
+
+        g2Triangle = new ToggleButtonReader(
+                g2, GamepadKeys.Button.Y
+        );
+
+        g2Square = new ToggleButtonReader(
+                g2, GamepadKeys.Button.X
+        );
+
+        g2RightBumper = new ToggleButtonReader(
+                g2, GamepadKeys.Button.RIGHT_BUMPER
+        );
+
+        g2LeftBumper = new ToggleButtonReader(
+                g2, GamepadKeys.Button.LEFT_BUMPER
+        );
+
+        g2DpadUp = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_UP
+        );
+
+        g2DpadDown = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_DOWN
+        );
+
+        g2DpadLeft = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_LEFT
+        );
+
+        g2DpadRight = new ToggleButtonReader(
+                g2, GamepadKeys.Button.DPAD_RIGHT
+        );
+
+        drivetrain = new Drivetrain(robot, TELE, g1);
+
+        drivetrain.setMode("Default");
+
+        drivetrain.setDefaultSpeed(defaultSpeed);
+
+        drivetrain.setSlowSpeed(slowMoSpeed);
+
+        intake = new Intake(robot);
+
+        transfer = new Transfer(robot);
+
+        spindexer = new Spindexer(robot, TELE);
+
+        spindexer.setTelemetryOn(true);
+
+        shooter = new Shooter(robot, TELE);
+
+        shooter.setShooterMode("MANUAL");
+
+        robot.rejecter.setPosition(rIn);
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        while (opModeIsActive()) {
+
+            drive.updatePoseEstimate();
+
+            TELE.addData("pose", drive.localizer.getPose());
+
+            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+
+            TELE.addData("off", offset);
+
+            robot.hood.setPosition(pos);
+
+            g1LeftBumper.readValue();
+
+            if (g1LeftBumper.wasJustPressed()) {
+                g2LeftBumperStamp = getRuntime();
+
+                spindexer.intakeShake(getRuntime());
+
+                leftBumper = true;
+            }
+
+            if (leftBumper) {
+                double time = getRuntime() - g2LeftBumperStamp;
+
+                if (time < 1.0) {
+                    robot.rejecter.setPosition(rOut);
+                } else {
+                    robot.rejecter.setPosition(rIn);
+                }
+
+            }
+
+            intake();
+
+            drivetrain.update();
+
+            TELE.update();
+
+            transfer.update();
+
+            g2RightBumper.readValue();
+
+            g2LeftBumper.readValue();
+
+            g2DpadDown.readValue();
+
+            g2DpadUp.readValue();
+
+            if (!scoreAll) {
+                spindexer.checkForBalls();
+            }
+
+            if (g2DpadUp.wasJustPressed()) {
+                pos -= 0.02;
+            }
+
+            if (g2DpadDown.wasJustPressed()) {
+                pos += 0.02;
+            }
+
+            g2DpadLeft.readValue();
+
+            g2DpadRight.readValue();
+
+            if (g2DpadLeft.wasJustPressed()) {
+                offset -= 0.02;
+            }
+
+            if (g2DpadRight.wasJustPressed()) {
+                offset += 0.02;
+            }
+
+            TELE.addData("hood", pos);
+
+            if (Math.abs(gamepad2.right_stick_x) < 0.1 && autotrack) {
+
+                shooter.trackGoal(drive.localizer.getPose(), new Pose2d(-10, 0, 0), offset);
+
+            } else {
+
+                autotrack = false;
+
+                shooter.moveTurret(0.3 + offset);
+
+            }
+
+            if (gamepad2.right_stick_button) {
+                autotrack = true;
+            }
+
+            if (g2RightBumper.wasJustPressed()) {
+                transfer.setTransferPower(1);
+                transfer.transferIn();
+                shooter.setManualPower(1);
+
+                notShooting = false;
+
+            }
+
+            if (g2RightBumper.wasJustReleased()) {
+                transfer.setTransferPower(1);
+                transfer.transferOut();
+            }
+
+            if (gamepad2.left_stick_y > 0.5) {
+
+                shooter.setManualPower(0);
+            } else if (gamepad2.left_stick_y < -0.5) {
+                shooter.setManualPower(1);
+            }
+
+            if (g2LeftBumper.wasJustPressed()) {
+                g2LeftBumperStamp = getRuntime();
+                notShooting = false;
+                scoreAll = true;
+            }
+
+            if (scoreAll) {
+                double time = getRuntime() - g2LeftBumperStamp;
+
+                shooter.setManualPower(1);
+
+                TELE.addData("greenImportant", green);
+
+                TELE.addData("last", last);
+                TELE.addData("2ndLast", second);
+
+                int numGreen = spindexer.greens();
+
+                if (square) {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+                } else if (tri) {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakePurple(second, last);
+                            } else {
+                                last = spindexer.outtakeGreen(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+                } else if (circle) {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (numGreen == 2) {
+                                last = spindexer.outtakePurple(second, last);
+                            } else {
+                                last = spindexer.outtakeGreen(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+                } else {
+
+                    if (time < 0.3) {
+
+                        ticker = 0;
+
+                        last = 0;
+                        second = 0;
+
+                        if (gamepad2.right_trigger > 0.5) {
+                            green = false;
+
+                            all = gamepad2.left_trigger > 0.5;
+
+                        } else if (gamepad2.left_trigger > 0.5) {
+                            green = true;
+
+                            all = false;
+                        } else {
+                            all = true;
+                        }
+
+                        transfer.transferOut();
+                        transfer.setTransferPower(1);
+                    } else if (time < 2) {
+
+                        if (ticker == 0) {
+
+                            if (all) {
+                                spindexer.outtake3();
+                                last = 3;
+                                second = 3;
+                            } else if (green) {
+                                last = spindexer.outtakeGreen(second, last);
+                                second = last;
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+                                second = last;
+
+                            }
+                        }
+
+                        second = last;
+
+                        ticker++;
+
+                    } else if (time < 2.5) {
+
+                        ticker = 0;
+
+                        second = last;
+
+                        if (gamepad2.right_trigger > 0.5) {
+                            green = false;
+
+                            all = gamepad2.left_trigger > 0.5;
+
+                        } else if (gamepad2.left_trigger > 0.5) {
+                            green = true;
+
+                            all = false;
+
+                        }
+
+                        transfer.transferIn();
+                    } else if (time < 4) {
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (all) {
+                                spindexer.outtake2();
+
+                                last = 2;
+                            } else if (green) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+                    } else if (time < 4.5) {
+
+                        ticker = 0;
+
+                        if (gamepad2.right_trigger > 0.5) {
+                            green = false;
+
+                            all = gamepad2.left_trigger > 0.5;
+
+                        } else if (gamepad2.left_trigger > 0.5) {
+                            green = true;
+
+                            all = false;
+                        }
+
+                        transfer.transferIn();
+                    } else if (time < 6) {
+
+                        transfer.transferOut();
+
+                        if (ticker == 0) {
+
+                            if (all) {
+                                spindexer.outtake1();
+                            } else if (green) {
+                                last = spindexer.outtakeGreen(second, last);
+                            } else {
+                                last = spindexer.outtakePurple(second, last);
+
+                            }
+                        }
+
+                        ticker++;
+
+                    } else if (time < 6.5) {
+                        transfer.transferIn();
+                    } else {
+
+                        ticker = 0;
+
+                        scoreAll = false;
+                        transfer.transferOut();
+
+                        shooter.setManualPower(0);
+
+                    }
+
+                }
+            }
+
+            shooter.update();
+
+        }
+
+    }
+
+    public void intake() {
+
+        g1RightBumper.readValue();
+
+        g2Circle.readValue();
+
+        g2Square.readValue();
+
+        g2Triangle.readValue();
+
+        if (g1RightBumper.wasJustPressed()) {
+
+            notShooting = true;
+
+            if (getRuntime() - g1RightBumperStamp < 0.3) {
+                intake.reverse();
+            } else {
+                intake.toggle();
+            }
+
+            if (intake.getIntakeState() == 1) {
+                shooter.setManualPower(0);
+            }
+
+            spindexer.intake();
+
+            transfer.transferOut();
+
+            g1RightBumperStamp = getRuntime();
+
+        }
+
+        if (intake.getIntakeState() == 1 && notShooting) {
+
+            spindexer.intakeShake(getRuntime());
+
+        } else {
+            if (g2Circle.wasJustPressed()) {
+                circle = true;
+                tri = false;
+                square = false;
+
+            }
+
+            if (g2Triangle.wasJustPressed()) {
+                circle = false;
+                tri = true;
+                square = false;
+            }
+
+            if (g2Square.wasJustPressed()) {
+                circle = false;
+                tri = false;
+                square = true;
+            }
+
+            if (gamepad2.x) {
+                circle = false;
+                tri = false;
+                square = false;
+            }
+
+        }
+
+        intake.update();
+
+        spindexer.update();
+
+    }
+}
+

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ActiveColorSensorTest.txt

@@ -0,0 +1,144 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+
+@TeleOp
+@Config
+public class ActiveColorSensorTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+
+    @Override
+    public void runOpMode() throws InterruptedException{
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        int b1Purple = 1;
+        int b1Total = 1;
+        int b2Purple = 1;
+        int b2Total = 1;
+        int b3Purple = 1;
+        int b3Total = 1;
+
+        double totalStamp1 = 0.0;
+        double purpleStamp1 = 0.0;
+        double totalStamp2 = 0.0;
+        double purpleStamp2 = 0.0;
+        double totalStamp3 = 0.0;
+        double purpleStamp3 = 0.0;
+
+        String b1 = "none";
+        String b2 = "none";
+        String b3 = "none";
+
+        double position = 0.0;
+
+        double stamp = getRuntime();
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+
+            if ((getRuntime() % 0.3) >0.15) {
+                position = spindexer_intakePos1 + 0.015;
+            } else {
+                position = spindexer_intakePos1 - 0.015;
+            }
+            robot.spin1.setPosition(position);
+            robot.spin2.setPosition(1-position);
+
+            robot.intake.setPower(1);
+
+            // Reset the counters after 1 second of not reading a ball.
+            final double ColorCounterResetDelay = 1.0;
+            // Number of times the loop needs to run before deciding on a color.
+            final int ColorCounterTotalMinCount = 20;
+            // If the color sensor reads a color this percentage of time
+            // out of the total, declare the color.
+            // Usage: (Color Count)/(Total Count) > ColorCounterThreshold
+            final double ColorCounterThreshold  = 0.65;
+
+            if (robot.pin1.getState()){
+                if (robot.pin0.getState()){
+                    b1Purple ++;
+                }
+                b1Total++;
+                totalStamp1 = getRuntime();
+            }
+            if (getRuntime() - totalStamp1 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
+                b1 = "none";
+                b1Total = 1;
+                b1Purple = 1;
+            }else if ((b1Total > ColorCounterTotalMinCount) && ((double) b1Purple / b1Total) >= ColorCounterThreshold){
+            // Enough Time has passed and we met the threshold
+                b1 = "Purple";
+            }else if (b1Total > ColorCounterTotalMinCount) {
+            // Enough Time passed WITHOUT meeting the threshold
+                b1 = "Green";
+            }
+
+            if (robot.pin3.getState()){
+                if (robot.pin2.getState()){
+                    b2Purple ++;
+                }
+                b2Total++;
+                totalStamp2 = getRuntime();
+            }
+            if (getRuntime() - totalStamp2 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
+                b2 = "none";
+                b2Total = 1;
+                b2Purple = 1;
+            }else if ((b2Total > ColorCounterTotalMinCount) && ((double) b2Purple / b2Total) >= ColorCounterThreshold){
+                // Enough Time has passed and we met the threshold
+                b2 = "Purple";
+            }else if (b2Total > ColorCounterTotalMinCount) {
+                // Enough Time passed WITHOUT meeting the threshold
+                b2 = "Green";
+            }
+
+            if (robot.pin5.getState()){
+                if (robot.pin4.getState()){
+                    b3Purple ++;
+                }
+                b3Total++;
+                totalStamp3 = getRuntime();
+            }
+            if (getRuntime() - totalStamp3 > ColorCounterResetDelay) {
+                // Too Much time has passed without detecting ball
+                b3 = "none";
+                b3Total = 1;
+                b3Purple = 1;
+            }else if ((b3Total > ColorCounterTotalMinCount) && ((double) b3Purple / b3Total) >= ColorCounterThreshold){
+                // Enough Time has passed and we met the threshold
+                b3 = "Purple";
+            }else if (b3Total > ColorCounterTotalMinCount) {
+                // Enough Time passed WITHOUT meeting the threshold
+                b3 = "Green";
+            }
+
+            TELE.addData("Green1:", robot.pin1.getState());
+            TELE.addData("Purple1:", robot.pin0.getState());
+            TELE.addData("Green2:", robot.pin3.getState());
+            TELE.addData("Purple2:", robot.pin2.getState());
+            TELE.addData("Green3:", robot.pin5.getState());
+            TELE.addData("Purple3:", robot.pin4.getState());
+            TELE.addData("1", b1);
+            TELE.addData("2",b2);
+            TELE.addData("3",b3);
+
+            TELE.update();
+        }
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.txt

@@ -0,0 +1,63 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@TeleOp
+@Config
+public class ColorSensorTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+// ----- COLOR 1 -----
+            double green1 = robot.color1.getNormalizedColors().green;
+            double blue1  = robot.color1.getNormalizedColors().blue;
+            double red1   = robot.color1.getNormalizedColors().red;
+
+            TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
+            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
+
+
+// ----- COLOR 2 -----
+            double green2 = robot.color2.getNormalizedColors().green;
+            double blue2  = robot.color2.getNormalizedColors().blue;
+            double red2   = robot.color2.getNormalizedColors().red;
+
+            TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
+            TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
+            TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
+
+
+// ----- COLOR 3 -----
+            double green3 = robot.color3.getNormalizedColors().green;
+            double blue3  = robot.color3.getNormalizedColors().blue;
+            double red3   = robot.color3.getNormalizedColors().red;
+
+            TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
+            TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
+            TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
+
+
+            TELE.update();
+        }
+    }
+
+
+}

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

@@ -1,13 +1,10 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.Color.colorFilterAlpha;
-
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -21,49 +18,36 @@ public class ColorTest extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        double color1Distance = 0;
-        double color2Distance = 0;
-        double color3Distance = 0;
 
         waitForStart();
         if (isStopRequested()) return;
 
         while(opModeIsActive()){
-
+            double green1 = robot.color1.getNormalizedColors().green;
-
+            double blue1 = robot.color1.getNormalizedColors().blue;
-            NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+            double red1 = robot.color1.getNormalizedColors().red;
-
-            double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
-
-            double dist1 = robot.color1.getDistance(DistanceUnit.MM);
-            color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
 
             TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
-            TELE.addData("Color1 green", gP1);
+            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
-            TELE.addData("Color1 distance (mm)", color1Distance);
+            TELE.addData("Color1 distance (mm)", robot.color1.getDistance(DistanceUnit.MM));
-
 
 // ----- COLOR 2 -----
             double green2 = robot.color2.getNormalizedColors().green;
             double blue2 = robot.color2.getNormalizedColors().blue;
             double red2 = robot.color2.getNormalizedColors().red;
-            double dist2 = robot.color2.getDistance(DistanceUnit.MM);
-            color2Distance = (colorFilterAlpha * dist2) + ((1-colorFilterAlpha) * color2Distance);
 
             TELE.addData("Color2 toColor", robot.color2.getNormalizedColors().toColor());
             TELE.addData("Color2 green", green2 / (green2 + blue2 + red2));
-            TELE.addData("Color2 distance (mm)", color2Distance);
+            TELE.addData("Color2 distance (mm)", robot.color2.getDistance(DistanceUnit.MM));
 
 // ----- COLOR 3 -----
             double green3 = robot.color3.getNormalizedColors().green;
             double blue3 = robot.color3.getNormalizedColors().blue;
             double red3 = robot.color3.getNormalizedColors().red;
-            double dist3 = robot.color3.getDistance(DistanceUnit.MM);
-            color3Distance = (colorFilterAlpha * dist3) + ((1-colorFilterAlpha) * color3Distance);
 
             TELE.addData("Color3 toColor", robot.color3.getNormalizedColors().toColor());
             TELE.addData("Color3 green", green3 / (green3 + blue3 + red3));
-            TELE.addData("Color3 distance (mm)", color3Distance);
+            TELE.addData("Color3 distance (mm)", robot.color3.getDistance(DistanceUnit.MM));
 
             TELE.update();
         }

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

@@ -16,7 +16,8 @@ import org.firstinspires.ftc.teamcode.utils.Servos;
 import java.util.ArrayList;
 import java.util.List;
 
-
+@Config
+@TeleOp
 public class IntakeTest extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
@@ -71,19 +72,19 @@ public class IntakeTest extends LinearOpMode {
                         initPos = currentPos;
                     }
                     if (reverse){
-                        robot.spin1.setPosition(manualPow);
+                        robot.spin1.setPower(manualPow);
-                        robot.spin2.setPosition(-manualPow);
+                        robot.spin2.setPower(-manualPow);
                     } else {
-                        robot.spin1.setPosition(-manualPow);
+                        robot.spin1.setPower(-manualPow);
-                        robot.spin2.setPosition(manualPow);
+                        robot.spin2.setPower(manualPow);
                     }
                     robot.intake.setPower(1);
                     stamp = getRuntime();
                     TELE.addData("Reverse?", reverse);
                     TELE.update();
                 } else {
-                    robot.spin1.setPosition(0);
+                    robot.spin1.setPower(0);
-                    robot.spin2.setPosition(0);
+                    robot.spin2.setPower(0);
 
                     if (getRuntime() - stamp < 1) {
                         robot.intake.setPower(-(getRuntime() - stamp)*2);
@@ -190,15 +191,15 @@ public class IntakeTest extends LinearOpMode {
 
         if (!atTarget) {
             powPID = servo.setSpinPos(spindexerPos);
-            robot.spin1.setPosition(powPID);
+            robot.spin1.setPower(powPID);
-            robot.spin2.setPosition(-powPID);
+            robot.spin2.setPower(-powPID);
 
             steadySpin = false;
             wasMoving = true;   // remember we were moving
             stamp = getRuntime();
         } else {
-            robot.spin1.setPosition(0);
+            robot.spin1.setPower(0);
-            robot.spin2.setPosition(0);
+            robot.spin2.setPower(0);
             steadySpin = true;
             wasMoving = false;
         }

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

@@ -4,35 +4,32 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import org.firstinspires.ftc.teamcode.utils.Robot;
+import java.util.List;
-import org.firstinspires.ftc.teamcode.utils.Turret;
 
 @Config
 @TeleOp
 //TODO: fix to get the apriltag that it is reading
 public class LimelightTest extends LinearOpMode {
     MultipleTelemetry TELE;
-    Turret turret;
+    public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
-    Robot robot;
-    public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 4 is for red track; DO NOT USE 3
     public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
-    public static boolean turretMode = false;
-    public static double turretPos = 0.501;
     @Override
     public void runOpMode() throws InterruptedException {
+        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        robot = new Robot(hardwareMap);
+        limelight.pipelineSwitch(pipeline);
-        turret = new Turret(robot, TELE, robot.limelight);
-        robot.limelight.pipelineSwitch(pipeline);
         waitForStart();
         if (isStopRequested()) return;
+        limelight.start();
         while (opModeIsActive()){
             if (mode == 0){
-                robot.limelight.pipelineSwitch(pipeline);
+                limelight.pipelineSwitch(pipeline);
-                LLResult result = robot.limelight.getLatestResult();
+                LLResult result = limelight.getLatestResult();
                 if (result != null) {
                     if (result.isValid()) {
                         TELE.addData("tx", result.getTx());
@@ -41,29 +38,40 @@ public class LimelightTest extends LinearOpMode {
                     }
                 }
             } else if (mode == 1){
-                int obeliskID = turret.detectObelisk();
+                limelight.pipelineSwitch(1);
-                TELE.addData("Limelight ID", obeliskID);
+                LLResult result = limelight.getLatestResult();
+                if (result != null && result.isValid()) {
+                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                        int id = fiducial.getFiducialId();
+                        TELE.addData("ID", id);
                         TELE.update();
-            } else if (mode == 2 || mode == 3){ // Use redAlliance variable to switch between red and blue
+                    }
-                double tx = turret.getBearing();
+
-                double ty = turret.getTy();
+                }
-                double x = turret.getLimelightX();
+            } else if (mode == 2){
-                double y = turret.getLimelightY();
+                limelight.pipelineSwitch(4);
-                TELE.addData("tx", tx);
+                LLResult result = limelight.getLatestResult();
-                TELE.addData("ty", ty);
+                if (result != null) {
-                TELE.addData("x", x);
+                    if (result.isValid()) {
-                TELE.addData("y", y);
+                        TELE.addData("tx", result.getTx());
+                        TELE.addData("ty", result.getTy());
                         TELE.update();
+                    }
+                }
+            } else if (mode == 3){
+                limelight.pipelineSwitch(5);
+                LLResult result = limelight.getLatestResult();
+                if (result != null) {
+                    if (result.isValid()) {
+                        TELE.addData("tx", result.getTx());
+                        TELE.addData("ty", result.getTy());
+                        TELE.update();
+                    }
+                }
             } else {
-                robot.limelight.pipelineSwitch(0);
+                limelight.pipelineSwitch(0);
             }
-
-            if (turretMode){
-                if (turretPos != 0.501){
-                    turret.setTurret(turretPos);
-                }
-            }
-
         }
     }
 }

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

@@ -6,9 +6,13 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
+@TeleOp
+@Config
 public class PIDServoTest extends LinearOpMode {
 
     public static double p = 2, i = 0, d = 0, f = 0;
@@ -29,7 +33,7 @@ public class PIDServoTest extends LinearOpMode {
 
         PIDFController controller = new PIDFController(p, i, d, f);
 
-        controller.setTolerance(0.001);
+        controller.setTolerance(0);
         robot = new Robot(hardwareMap);
 
         telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
@@ -40,16 +44,25 @@ public class PIDServoTest extends LinearOpMode {
 
         while (opModeIsActive()) {
             controller.setPIDF(p, i, d, f);
-            if (mode == 1) {
+
+            if (mode == 0) {
+                pos = scalar * ((robot.turr1Pos.getVoltage() - restPos) / 3.3);
+
+                double pid = controller.calculate(pos, target);
+
+                robot.turr1.setPower(pid);
+                robot.turr2.setPower(-pid);
+            } else if (mode == 1) {
                 pos = scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3);
 
                 double pid = controller.calculate(pos, target);
 
-                robot.spin1.setPosition(pid);
+                robot.spin1.setPower(pid);
-                robot.spin2.setPosition(-pid);
+                robot.spin2.setPower(-pid);
             }
 
             telemetry.addData("pos", pos);
+            telemetry.addData("Turret Voltage", robot.turr1Pos.getVoltage());
             telemetry.addData("Spindex Voltage", robot.spin1Pos.getVoltage());
             telemetry.addData("target", target);
             telemetry.addData("Mode", mode);
@@ -58,5 +71,4 @@ public class PIDServoTest extends LinearOpMode {
         }
 
     }
-
 }

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

@@ -1,67 +1,32 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinSpeedIncrease;
-import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.Pose2d;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-import org.firstinspires.ftc.teamcode.utils.Spindexer;
-import org.firstinspires.ftc.teamcode.utils.Targeting;
-import org.firstinspires.ftc.teamcode.utils.Turret;
 
 @Config
 @TeleOp
 public class ShooterTest extends LinearOpMode {
-    public static int mode = 1;
+
+    public static int mode = 0;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
 
-    public static double Velocity = 0.0;
+    //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
-    public static double P = 255.0;
-    public static double I = 0.0;
-    public static double D = 0.0;
-    public static double F = 75;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
     public static boolean shoot = false;
-
-    public static boolean intake = false;
-    public static boolean turretTrack = true;
     Robot robot;
     Flywheel flywheel;
-    Servos servo;
-    MecanumDrive drive;
-    Turret turret;
-    double shootStamp = 0.0;
-    boolean shootAll = false;
-
-    public double spinPow = 0.09;
-
-    public static boolean enableHoodAutoOpen = false;
-    public double hoodAdjust = 0.0;
-    public static double hoodAdjustFactor = 1.0;
-    private int shooterTicker = 0;
-    public static double spinSpeed = 0.02;
-    Spindexer spindexer ;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -69,136 +34,47 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new Flywheel(hardwareMap);
+        flywheel = new Flywheel();
-        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 / voltage);
+                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition());
-                flywheel.manageFlywheel((int) Velocity);
+                rightShooter.setPower(powPID);
+                leftShooter.setPower(powPID);
+                TELE.addData("PIDPower", powPID);
             }
 
             if (hoodPos != 0.501) {
-                if (enableHoodAutoOpen) {
+                robot.hood.setPosition(hoodPos);
-                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
-                } else {
-                    robot.hood.setPosition(hoodPos + hoodOffset);
-                }
             }
 
-            if (intake) {
+            if (turretPos != 0.501) {
-                robot.intake.setPower(1);
+                robot.turr1.setPower(turretPos);
-
+                robot.turr2.setPower(turretPos);
-            } else {
-                robot.intake.setPower(0);
             }
 
-
-            if (shoot) {
-                shootStamp = getRuntime();
-                shootAll = true;
-                shoot = false;
             robot.transfer.setPower(transferPower);
-                shooterTicker = 0;
+            if (shoot) {
-            }
-            if (shootAll) {
-
-                //intake = false;
-                //reject = false;
-
-                //spindexPos = spindexer_intakePos1;
-                if (getRuntime() - shootStamp < 3.5) {
-
-                    if (shooterTicker == 0 && !servo.spinEqual(spinStartPos)){
-                        robot.spin1.setPosition(spinStartPos);
-                        robot.spin2.setPosition(1-spinStartPos);
-                    } else {
                 robot.transferServo.setPosition(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = robot.spin1.getPosition();
-
-                        if (prevSpinPos < 0.9){
-                            robot.spin1.setPosition(prevSpinPos + spinSpeed);
-                            robot.spin2.setPosition(1 - prevSpinPos - spinSpeed);
-                        }
-                    }
-
-
-
             } else {
                 robot.transferServo.setPosition(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
-
-                    shootAll = false;
-                    shooterTicker = 0;
-
-                    robot.transferServo.setPosition(transferServo_out);
-                    robot.transfer.setPower(0);
-
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
             }
-            } else {
-                spindexer.processIntake();
-            }
-
             TELE.addData("Velocity", flywheel.getVelo());
-            TELE.addData("Velocity 1", flywheel.getVelo1());
-            TELE.addData("Velocity 2", flywheel.getVelo2());
             TELE.addData("Power", robot.shooter1.getPower());
             TELE.addData("Steady?", flywheel.getSteady());
             TELE.addData("Position", robot.shooter1.getCurrentPosition());
-            TELE.addData("Voltage", voltage);
 
             TELE.update();
 

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

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

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

@@ -1,51 +0,0 @@
-package org.firstinspires.ftc.teamcode.tests;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Turret;
-
-@TeleOp
-@Config
-public class TurretTest extends LinearOpMode {
-    public static boolean zeroTurr = false;
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        Robot robot = new Robot(hardwareMap);
-        MultipleTelemetry TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        Turret turret = new Turret(robot, TELE, robot.limelight);
-        waitForStart();
-
-        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
-
-        while(opModeIsActive()){
-
-            drive.updatePoseEstimate();
-            turret.trackGoal(drive.localizer.getPose());
-
-            TELE.addData("tpos", turret.getTurrPos());
-            TELE.addData("Limelight tx", turret.getBearing());
-            TELE.addData("Limelight ty", turret.getTy());
-            TELE.addData("Limelight X", turret.getLimelightX());
-            TELE.addData("Limelight Y", turret.getLimelightY());
-
-            if(zeroTurr){
-                turret.zeroTurretEncoder();
-            }
-
-            TELE.update();
-        }
-
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ed.txt

@@ -0,0 +1,210 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+
+@TeleOp
+@Config
+public class ShooterTest extends LinearOpMode {
+
+    Robot robot;
+
+    public static double pow = 0.0;
+    public static double vel = 0.0;
+    public static double ecpr = 1024.0; // CPR of the encoder
+    public static double hoodPos = 0.5;
+    public static double turretPos = 0.9;
+
+    public static String flyMode = "VEL";
+
+    public static boolean AutoTrack = false;
+
+    double initPos = 0.0;
+
+    double velo = 0.0;
+    double velo1 = 0.0;
+    double velo2 = 0.0;
+    double velo3 = 0.0;
+    double velo4 = 0.0;
+    double velo5 = 0.0;
+
+    double stamp1 = 0.0;
+
+    double initPos1 = 0.0;
+
+    double powPID = 0.0;
+
+    public static int maxVel = 4500;
+
+    public static boolean shoot = false;
+
+    public static int spindexPos = 1;
+
+    public static boolean intake = true;
+
+    public static int tolerance = 50;
+
+    double stamp = 0.0;
+
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+    public static double distance = 50;
+
+    MultipleTelemetry TELE;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        Shooter shooter = new Shooter(robot, TELE);
+
+        robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        shooter.setTelemetryOn(true);
+
+        shooter.setShooterMode(flyMode);
+
+        initPos = shooter.getECPRPosition();
+
+        int ticker = 0;
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+            ticker++;
+
+            if (AutoTrack){
+                hoodPos = hoodAnglePrediction(distance);
+                vel = velPrediction(distance);
+            }
+
+
+
+            shooter.setShooterMode(flyMode);
+
+            shooter.setManualPower(pow);
+
+            robot.hood.setPosition(hoodPos);
+            robot.turr1.setPosition(turretPos);
+            robot.turr2.setPosition(1 - turretPos);
+            if (intake) {
+                robot.transfer.setPower(0);
+                robot.intake.setPower(0.75);
+                robot.spin1.setPosition(spindexer_intakePos1);
+                robot.spin2.setPosition(1 - spindexer_intakePos1);
+            } else {
+                robot.transfer.setPower(.75 + (powPID/4));
+                robot.intake.setPower(0);
+                if (spindexPos == 1) {
+                    robot.spin1.setPosition(spindexer_outtakeBall1);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall1);
+                } else if (spindexPos == 2) {
+                    robot.spin1.setPosition(spindexer_outtakeBall2);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall2);
+                } else if (spindexPos == 3) {
+                    robot.spin1.setPosition(spindexer_outtakeBall3);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall3);
+                }
+            }
+
+            double penguin = 0;
+            if (ticker % 8 ==0){
+                penguin = shooter.getECPRPosition();
+                stamp = getRuntime();
+                velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
+                initPos1 = penguin;
+                stamp1 = stamp;
+            }
+
+
+            velo = velo1;
+
+            double feed = vel / maxVel;        // Example: vel=2500 → feed=0.5
+
+            if (vel > 500){
+                feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+            }
+
+            // --- PROPORTIONAL CORRECTION ---
+            double error = vel - velo1;
+            double correction = kP * error;
+
+            // limit how fast power changes (prevents oscillation)
+            correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+            // --- FINAL MOTOR POWER ---
+            powPID = feed + correction;
+
+            // clamp to allowed range
+            powPID = Math.max(0, Math.min(1, powPID));
+
+            if (vel - velo > 1000){
+                powPID = 1;
+            } else if (velo - vel > 1000){
+                powPID = 0;
+            }
+
+            shooter.setVelocity(powPID);
+
+            if (shoot) {
+                robot.transferServo.setPosition(transferServo_in);
+            } else {
+                robot.transferServo.setPosition(transferServo_out);
+            }
+
+            shooter.update();
+
+            TELE.addData("Revolutions", shooter.getECPRPosition());
+            TELE.addData("hoodPos", shooter.gethoodPosition());
+            TELE.addData("turretPos", shooter.getTurretPosition());
+            TELE.addData("Power Fly 1", robot.shooter1.getPower());
+            TELE.addData("Power Fly 2", robot.shooter2.getPower());
+            TELE.addData("powPID", shooter.getpowPID());
+            TELE.addData("Velocity", velo);
+            TELE.update();
+
+
+        }
+
+    }
+
+    public double hoodAnglePrediction(double distance) {
+        double L = 0.298317;
+        double A = 1.02124;
+        double k = 0.0157892;
+        double n = 3.39375;
+
+        double dist = Math.sqrt(distance*distance+24*24);
+
+        return L + A * Math.exp(-Math.pow(k * dist, n));
+    }
+    public static double velPrediction(double distance) {
+
+        double x = Math.sqrt(distance*distance+24*24);
+
+
+
+        double A = -211149.992;
+        double B = -1.19943;
+        double C = 3720.15909;
+
+        return A * Math.pow(x, B) + C;
+    }
+
+}

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

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

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

@@ -1,82 +1,90 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import com.qualcomm.robotcore.hardware.DcMotor;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
-import com.qualcomm.robotcore.hardware.HardwareMap;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
 
-import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 
 public class Flywheel {
     Robot robot;
-    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+    MultipleTelemetry TELE;
+
+    double initPos = 0.0;
+    double stamp = 0.0;
+    double stamp1 = 0.0;
+    double ticker = 0.0;
+    double currentPos = 0.0;
     double velo = 0.0;
-    public double velo1 = 0.0;
+    double velo1 = 0.0;
-    public double velo2 = 0.0;
+    double velo2 = 0.0;
+    double velo3 = 0.0;
+    double velo4 = 0.0;
+    double velo5 = 0.0;
     double targetVelocity = 0.0;
+    double powPID = 0.0;
     boolean steady = false;
-    public Flywheel (HardwareMap hardwareMap) {
+    public Flywheel () {
-        robot = new Robot(hardwareMap);
+        //robot = new Robot(hardwareMap);
-        shooterPIDF1 = new PIDFCoefficients
-                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
-        shooterPIDF2 = new PIDFCoefficients
-                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
     }
 
     public double getVelo () {
         return velo;
     }
-    public double getVelo1 () {
-        return velo1;
-    }
-    public double getVelo2 () {
-        return velo2;
-    }
 
     public boolean getSteady() {
         return steady;
     }
 
-    // Set the robot PIDF for the next cycle.
+    private double getTimeSeconds ()
-    private double prevF = 0;
+    {
-    public static double voltagePIDFDifference = 0.8;
+        return (double) System.currentTimeMillis()/1000.0;
-    public void setPIDF(double p, double i, double d, double f) {
-        shooterPIDF1.p = p;
-        shooterPIDF1.i = i;
-        shooterPIDF1.d = d;
-        shooterPIDF1.f = f;
-        shooterPIDF2.p = p;
-        shooterPIDF2.i = i;
-        shooterPIDF2.d = d;
-        shooterPIDF2.f = f;
-        if (Math.abs(prevF - f) > voltagePIDFDifference){
-            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
-            robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
-            prevF = f;
-        }
     }
 
-    // Convert from RPM to Ticks per Second
-    private double RPM_to_TPS (double RPM) { return (RPM*28.0)/60.0;}
 
-    // Convert from Ticks per Second to RPM
+    public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
-    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
-
-    public void manageFlywheel(double commandedVelocity) {
-
-        if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
         targetVelocity = commandedVelocity;
-            // Add code here to set PIDF based on desired RPM
-            //robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
-            //robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
 
+        ticker++;
+        if (ticker % 2 == 0) {
+            velo5 = velo4;
+            velo4 = velo3;
+            velo3 = velo2;
+            velo2 = velo1;
+
+            currentPos = shooter1CurPos / 2048;
+            stamp = getTimeSeconds(); //getRuntime();
+            velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
+            initPos = currentPos;
+            stamp1 = stamp;
+
+            velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
         }
-        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        // Flywheel control code here
-        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+        if (targetVelocity - velo > 500) {
-        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+            powPID = 1.0;
-        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        } else if (velo - targetVelocity > 500){
-        velo = Math.max(velo1, velo2);
+            powPID = 0.0;
-        // really should be a running average of the last 5
+        } else {
-        steady = (Math.abs(commandedVelocity - velo) < 50);
+            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
 
+            // --- PROPORTIONAL CORRECTION ---
+            double error = targetVelocity - velo;
+            double correction = kP * error;
+
+            // limit how fast power changes (prevents oscillation)
+            correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+            // --- FINAL MOTOR POWER ---
+            powPID = feed + correction;
+
+            // clamp to allowed range
+            powPID = Math.max(0, Math.min(1, powPID));
+        }
+
+        // really should be a running average of the last 5
+        steady = (Math.abs(targetVelocity - velo) < 100.0);
+
+        return powPID;
     }
 
     public void update()

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

@@ -0,0 +1,104 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class FlywheelV2 {
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+    double initPos1 = 0.0;
+    double initPos2 = 0.0;
+    double stamp = 0.0;
+    double stamp1 = 0.0;
+    double ticker = 0.0;
+    double currentPos1 = 0.0;
+    double currentPos2 = 0.0;
+    double velo = 0.0;
+    double velo1 = 0.0;
+    double velo1a = 0.0;
+    double velo1b = 0.0;
+    double velo2 = 0.0;
+    double velo3 = 0.0;
+    double velo4 = 0.0;
+    double velo5 = 0.0;
+    double targetVelocity = 0.0;
+    double powPID = 0.0;
+    boolean steady = false;
+
+    public FlywheelV2() {
+        //robot = new Robot(hardwareMap);
+    }
+
+    public double getVelo(double shooter1CurPos, double shooter2CurPos) {
+        ticker++;
+        if (ticker % 2 == 0) {
+            velo5 = velo4;
+            velo4 = velo3;
+            velo3 = velo2;
+            velo2 = velo1;
+
+            currentPos1 = shooter1CurPos / 28;
+            currentPos2 = shooter2CurPos / 28;
+            stamp = getTimeSeconds(); //getRuntime();
+            velo1a = 60 * ((currentPos1 - initPos1) / (stamp - stamp1));
+            velo1b = 60 * ((currentPos2 - initPos2) / (stamp - stamp1));
+            initPos1 = currentPos1;
+            initPos2 = currentPos2;
+            stamp1 = stamp;
+
+            if (velo1a < 200){
+                velo1 = velo1b;
+            } else if (velo1b < 200){
+                velo1 = velo1a;
+            } else {
+                velo1 = (velo1a + velo1b) / 2;
+            }
+        }
+        return ((velo1 + velo2 + velo3 + velo4 + velo5) / 5);
+    }
+
+    public double getVelo1() { return (velo1a + velo2 + velo3 + velo4 + velo5) / 5; }
+
+    public double getVelo2() { return (velo1b + velo2 + velo3 + velo4 + velo5) / 5; }
+
+    public boolean getSteady() {
+        return steady;
+    }
+
+    private double getTimeSeconds() {
+        return (double) System.currentTimeMillis() / 1000.0;
+    }
+
+    public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
+        targetVelocity = commandedVelocity;
+        velo = getVelo(shooter1CurPos, shooter2CurPos);
+        // Flywheel PID code here
+        if (targetVelocity - velo > 500) {
+            powPID = 1.0;
+        } else if (velo - targetVelocity > 500) {
+            powPID = 0.0;
+        } else {
+            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
+
+            // --- PROPORTIONAL CORRECTION ---
+            double error = targetVelocity - velo;
+            double correction = kP * error;
+
+            // limit how fast power changes (prevents oscillation)
+            correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+            // --- FINAL MOTOR POWER ---
+            powPID = feed + correction;
+
+            // clamp to allowed range
+            powPID = Math.max(0, Math.min(1, powPID));
+        }
+
+        steady = (Math.abs(targetVelocity - velo) < 100.0);
+
+        return powPID;
+    }
+
+    public void update() {
+    }
+}

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

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

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

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

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

@@ -1,66 +0,0 @@
-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

@@ -8,8 +8,6 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
-
 @TeleOp
 @Config
 public class PositionalServoProgrammer extends LinearOpMode {
@@ -18,30 +16,44 @@ public class PositionalServoProgrammer extends LinearOpMode {
     Servos servo;
 
     public static double spindexPos = 0.501;
+    public static double spindexPow = 0.0;
+    public static double spinHoldPow = 0.0;
     public static double turretPos = 0.501;
+    public static double turretPow = 0.0;
+    public static double turrHoldPow = 0.0;
     public static double transferPos = 0.501;
     public static double hoodPos = 0.501;
-    public static double light = 0.501;
+    public static int mode = 0; //0 for positional, 1 for power
-
-    Turret turret;
 
     @Override
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
-
-        turret = new Turret(robot, TELE, robot.limelight );
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
-            if (spindexPos != 0.501){
+            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
-                robot.spin1.setPosition(spindexPos);
+                double pos = servo.setSpinPos(spindexPos);
-                robot.spin2.setPosition(1-spindexPos);
+                robot.spin1.setPower(pos);
+                robot.spin2.setPower(-pos);
+            } else if (mode == 0){
+                robot.spin1.setPower(spinHoldPow);
+                robot.spin2.setPower(spinHoldPow);
+            } else {
+                robot.spin1.setPower(spindexPow);
+                robot.spin2.setPower(-spindexPow);
             }
-            if (turretPos != 0.501){
+            if (turretPos != 0.501 && !servo.turretEqual(turretPos)){
-                robot.turr1.setPosition(turretPos);
+                double pos = servo.setTurrPos(turretPos);
-                robot.turr2.setPosition(1-turretPos);
+                robot.turr1.setPower(pos);
+                robot.turr2.setPower(-pos);
+            } else if (mode == 0){
+                robot.turr1.setPower(turrHoldPow);
+                robot.turr2.setPower(turrHoldPow);
+            } else {
+                robot.turr1.setPower(turretPow);
+                robot.turr2.setPower(-turretPow);
             }
             if (transferPos != 0.501){
                 robot.transferServo.setPosition(transferPos);
@@ -49,17 +61,13 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (hoodPos != 0.501){
                 robot.hood.setPosition(hoodPos);
             }
-            if (light !=0.501){
+            TELE.addData("spindexer", servo.getSpinPos());
-                robot.light.setPosition(light);
+            TELE.addData("turret", servo.getTurrPos());
-            }
+            TELE.addData("spindexer voltage", robot.spin1Pos.getVoltage());
-
+            TELE.addData("hood voltage", robot.hoodPos.getVoltage());
-            TELE.addData("spindexer pos", servo.getSpinPos());
-            TELE.addData("turret pos", robot.turr1.getPosition());
-            TELE.addData("spindexer voltage 1", robot.spin1Pos.getVoltage());
-            TELE.addData("spindexer voltage 2", robot.spin2Pos.getVoltage());
-            TELE.addData("hood pos", robot.hood.getPosition());
             TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
-            TELE.addData("tpos ", turret.getTurrPos() );
+            TELE.addData("turret voltage", robot.turr1Pos.getVoltage());
+            TELE.addData("Spin Equal", servo.spinEqual(spindexPos));
             TELE.update();
         }
     }

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

@@ -1,65 +1,66 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import com.acmerobotics.dashboard.config.Config;
 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.DigitalChannel;
 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;
 
-@Config
 public class Robot {
 
     //Initialize Public Components
 
-    public static boolean usingLimelight = true;
-    public static boolean usingCamera = false;
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
     public DcMotorEx backLeft;
     public DcMotorEx backRight;
     public DcMotorEx intake;
     public DcMotorEx transfer;
-    public PIDFCoefficients shooterPIDF;
-    public static double shooterPIDF_P = 255;
-    public static double shooterPIDF_I = 0.0;
-    public static double shooterPIDF_D = 0.0;
-    public static double shooterPIDF_F = 75;
-//    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
     public Servo transferServo;
-    public Servo turr1;
+    public Servo rejecter;
-    public Servo turr2;
+    public CRServo turr1;
-
+    public CRServo turr2;
-    public Servo spin1;
+    public CRServo spin1;
-
+    public CRServo spin2;
-    public Servo spin2;
+    public DigitalChannel pin0;
+    public DigitalChannel pin1;
+    public DigitalChannel pin2;
+    public DigitalChannel pin3;
+    public DigitalChannel pin4;
+    public DigitalChannel pin5;
+    public AnalogInput analogInput;
+    public AnalogInput analogInput2;
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
+    public AnalogInput hoodPos;
     public AnalogInput turr1Pos;
+    public AnalogInput turr2Pos;
     public AnalogInput transferServoPos;
     public AprilTagProcessor aprilTagProcessor;
     public WebcamName webcam;
+    public DcMotorEx shooterEncoder;
     public RevColorSensorV3 color1;
     public RevColorSensorV3 color2;
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
-    public Servo light;
+
-    public VoltageSensor voltage;
+    public static boolean usingLimelight = true;
 
     public Robot(HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
+
         frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
         frontRight = hardwareMap.get(DcMotorEx.class, "fr");
         backLeft = hardwareMap.get(DcMotorEx.class, "bl");
@@ -73,36 +74,57 @@ public class Robot {
         backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
 
         intake = hardwareMap.get(DcMotorEx.class, "intake");
+        rejecter = hardwareMap.get(Servo.class, "rejecter");
 
         shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
 
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
 
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F);
+        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+
-        shooter1.setVelocity(0);
+        shooterEncoder = shooter1;
-        shooter2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-        shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-        shooter2.setVelocity(0);
 
         hood = hardwareMap.get(Servo.class, "hood");
 
-        turr1 = hardwareMap.get(Servo.class, "t1");
+        hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
 
-        turr2 = hardwareMap.get(Servo.class, "t2");
+        turr1 = hardwareMap.get(CRServo.class, "t1");
 
-        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
 
-        spin1 = hardwareMap.get(Servo.class, "spin2");
+        turr2 = hardwareMap.get(CRServo.class, "t2");
+
+        turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
+
+        spin1 = hardwareMap.get(CRServo.class, "spin1");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
 
-        spin2 = hardwareMap.get(Servo.class, "spin1");
+        spin2 = hardwareMap.get(CRServo.class, "spin2");
 
         spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
 
+        spin1.setDirection(DcMotorSimple.Direction.REVERSE);
+        spin2.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
+
+        pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
+
+        pin2 = hardwareMap.get(DigitalChannel.class, "pin2");
+
+        pin3 = hardwareMap.get(DigitalChannel.class, "pin3");
+
+        pin4 = hardwareMap.get(DigitalChannel.class, "pin4");
+
+        pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
+
+        analogInput = hardwareMap.get(AnalogInput.class, "analog");
+
+        analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
+
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
 
         transferServo = hardwareMap.get(Servo.class, "transferServo");
@@ -110,7 +132,10 @@ public class Robot {
         transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
 
         transfer.setDirection(DcMotorSimple.Direction.REVERSE);
-        transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
+
+        webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
 
         color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
 
@@ -118,14 +143,8 @@ public class Robot {
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
 
-        if (usingLimelight) {
+        if (usingLimelight){
             limelight = hardwareMap.get(Limelight3A.class, "limelight");
-        } else if (usingCamera) {
-            webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
-            aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }
-
-        light = hardwareMap.get(Servo.class, "light");
-        voltage = hardwareMap.voltageSensor.iterator().next();
     }
 }

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

@@ -1,84 +1,60 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
-
 import com.acmerobotics.dashboard.config.Config;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 @Config
 public class Servos {
-    //PID constants
-    // TODO: get PIDF constants
-    public static double spinP = 2.0, spinI = 0, spinD = 0.3, spinF = 0.02;
-    public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
-    public static double spin_scalar = 1.112;
-    public static double spin_restPos = 0.155;
     Robot robot;
+
     PIDFController spinPID;
+
     PIDFController turretPID;
 
-    private double prevSpinPos = 0.0;
+    //PID constants
-    private boolean firstSpinPos = true;
+    // TODO: get PIDF constants
+    public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
+    public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
 
-    private double prevTransferPos = 0.0;
+    public static double spin_scalar = 1.0086;
-    private boolean firstTransferPos = true;
+    public static double spin_restPos = 0.0;
-
+    public static double turret_scalar = 1.009;
-    private double prevHoodPos = 0.0;
+    public static double turret_restPos = 0.0;
-    private boolean firstHoodPos = true;
 
     public Servos(HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
         spinPID = new PIDFController(spinP, spinI, spinD, spinF);
         turretPID = new PIDFController(turrP, turrI, turrD, turrF);
-
-        turretPID.setTolerance(0.001);
     }
 
     // In the code below, encoder = robot.servo.getVoltage()
-    // TODO: set the restPos and scalar
+
     public double getSpinPos() {
         return spin_scalar * ((robot.spin1Pos.getVoltage() - spin_restPos) / 3.3);
     }
-
+    //TODO: PID warp so 0 and 1 are usable positions
-    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)) {
+        spinPID.setPIDF(spinP, spinI, spinD, spinF);
-            robot.spin1.setPosition(pos);
-            robot.spin2.setPosition(1-pos);
-            firstSpinPos = false;
-        }
 
-        prevSpinPos = pos;
+        return spinPID.calculate(this.getSpinPos(), 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;
+        return Math.abs(pos - this.getSpinPos()) < 0.02;
+    }
+
+    public double getTurrPos() {
+        return turret_scalar * ((robot.turr1Pos.getVoltage() - turret_restPos) / 3.3);
+    }
+
+    public double setTurrPos(double pos) {
+        turretPID.setPIDF(turrP, turrI, turrD, turrF);
+
+        return spinPID.calculate(this.getTurrPos(), pos);
+    }
+
+    public boolean turretEqual(double pos) {
+        return Math.abs(pos - this.getTurrPos()) < 0.01;
     }
 }

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

@@ -1,682 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.arcrobotics.ftclib.controller.PIDFController;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.NormalizedColorSensor;
-import com.qualcomm.robotcore.hardware.NormalizedRGBA;
-
-import static org.firstinspires.ftc.teamcode.constants.Color.*;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos2;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos3;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
-import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
-import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
-import static org.firstinspires.ftc.teamcode.utils.Servos.spinP;
-
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.constants.StateEnums;
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-
-import java.util.Objects;
-
-public class Spindexer {
-
-    Robot robot;
-    Servos servos;
-    Flywheel flywheel;
-    MecanumDrive drive;
-    double lastKnownSpinPos = 0.0;
-    MultipleTelemetry TELE;
-
-    PIDFController spinPID = new PIDFController(spinP, spinI, spinD, spinF);
-
-    double spinCurrentPos = 0.0;
-
-    public int commandedIntakePosition = 0;
-
-    public double distanceRearCenter = 0.0;
-    public double distanceFrontDriver = 0.0;
-    public double distanceFrontPassenger = 0.0;
-
-    public double spindexerWiggle = 0.01;
-
-    public double spindexerOuttakeWiggle = 0.01;
-    private double prevPos = 0.0;
-    public double spindexerPosOffset = 0.00;
-    public static int shootWaitMax = 4;
-    public static boolean whileShooting = false;
-    public static int waitFirstBallTicks = 4;
-    private int shootTicks = 0;
-    public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
-    // For Use
-    enum RotatedBallPositionNames {
-        REARCENTER,
-        FRONTDRIVER,
-        FRONTPASSENGER
-    }
-    // Array of commandedIntakePositions with contents
-    // {RearCenter, FrontDriver, FrontPassenger}
-    static final int[][] RotatedBallPositions = {{0,2,1}, {1,0,2}, {2,1,0}};
-    class spindexerBallRoatation {
-        int rearCenter = 0; // aka commanded Position
-        int frontDriver = 0;
-        int frontPassenger = 0;
-    }
-
-    enum IntakeState {
-        UNKNOWN_START,
-        UNKNOWN_MOVE,
-        UNKNOWN_DETECT,
-        INTAKE,
-        FINDNEXT,
-        MOVING,
-        FULL,
-        SHOOTNEXT,
-        SHOOTMOVING,
-        SHOOTWAIT,
-        SHOOT_ALL_PREP,
-        SHOOT_ALL_READY,
-        SHOOT_PREP_CONTINOUS,
-        SHOOT_CONTINOUS
-    }
-
-    int shootWaitCount = 0;
-
-    public IntakeState currentIntakeState = IntakeState.UNKNOWN_START;
-    public IntakeState prevIntakeState = IntakeState.UNKNOWN_START;
-    public int unknownColorDetect = 0;
-    public enum BallColor {
-        UNKNOWN,
-        GREEN,
-        PURPLE
-    }
-
-    class BallPosition {
-        boolean isEmpty = true;
-        int foundEmpty = 0;
-        BallColor ballColor = BallColor.UNKNOWN;
-    }
-
-    BallPosition[] ballPositions = new BallPosition[3];
-
-    public boolean init () {
-        return true;
-    }
-
-    public Spindexer(HardwareMap hardwareMap) {
-        robot = new Robot(hardwareMap);
-        servos = new Servos(hardwareMap);
-        flywheel = new Flywheel(hardwareMap);
-        //TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        lastKnownSpinPos = servos.getSpinPos();
-
-        ballPositions[0] = new BallPosition();
-        ballPositions[1] = new BallPosition();
-        ballPositions[2] = new BallPosition();
-
-
-    }
-
-
-    double[] outakePositions =
-            {spindexer_outtakeBall1+spindexerPosOffset,
-                    spindexer_outtakeBall2+spindexerPosOffset,
-                    spindexer_outtakeBall3+spindexerPosOffset};
-
-    double[] intakePositions =
-            {spindexer_intakePos1, spindexer_intakePos2, spindexer_intakePos3};
-
-    public int counter = 0;
-
-//    private double getTimeSeconds ()
-//    {
-//        return (double) System.currentTimeMillis()/1000.0;
-//    }
-
-//    public double getPos() {
-//        robot.spin1Pos.getVoltage();
-//        robot.spin1Pos.getMaxVoltage();
-//        return (robot.spin1Pos.getVoltage()/robot.spin1Pos.getMaxVoltage());
-//    }
-
-//    public void manageSpindexer() {
-//
-//    }
-
-    public void resetBallPosition (int pos) {
-        ballPositions[pos].isEmpty = true;
-        ballPositions[pos].foundEmpty = 0;
-        ballPositions[pos].ballColor = BallColor.UNKNOWN;
-        distanceRearCenter = 61;
-        distanceFrontDriver = 61;
-        distanceFrontPassenger = 61;
-    }
-
-    public void resetSpindexer () {
-        for (int i = 0; i < 3; i++) {
-            resetBallPosition(i);
-        }
-        currentIntakeState = IntakeState.UNKNOWN_START;
-    }
-
-    // Detects if a ball is found and what color.
-    // Returns true is there was a new ball found in Position 1
-    // FIXIT: Reduce number of times that we read the color sensors for loop times.
-    public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
-
-        boolean newPos1Detection = false;
-        int spindexerBallPos = 0;
-
-        // Read Distances
-        double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
-        distanceRearCenter = (colorFilterAlpha * dRearCenter) + ((1-colorFilterAlpha) * distanceRearCenter);
-        double dFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
-        distanceFrontDriver = (colorFilterAlpha * dFrontDriver) + ((1-colorFilterAlpha) * distanceFrontDriver);
-        double dFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
-        distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
-
-        // Position 1
-        if (distanceRearCenter < 48) {
-
-            // Mark Ball Found
-            newPos1Detection = true;
-
-            if (detectRearColor) {
-                // Detect which color
-                NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
-
-                double gP = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
-
-                // FIXIT - Add filtering to improve accuracy.
-                if (gP >= 0.38) {
-                    ballPositions[commandedIntakePosition].ballColor = BallColor.GREEN;  // green
-                } else {
-                    ballPositions[commandedIntakePosition].ballColor = BallColor.PURPLE;  // purple
-                }
-            }
-        }
-        // Position 2
-        // Find which ball position this is in the spindexer
-        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 50) {
-            // reset FoundEmpty because looking for 3 in a row before reset
-            ballPositions[spindexerBallPos].foundEmpty = 0;
-            if (detectFrontColor) {
-                NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
-
-                double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
-
-                if (gP >= 0.4) {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
-                } else {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
-                }
-            }
-        } else {
-            if (!ballPositions[spindexerBallPos].isEmpty) {
-                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
-                    resetBallPosition(spindexerBallPos);
-                }
-                ballPositions[spindexerBallPos].foundEmpty++;
-            }
-
-        }
-
-        // Position 3
-        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
-        if (distanceFrontPassenger < 29) {
-
-            // reset FoundEmpty because looking for 3 in a row before reset
-            ballPositions[spindexerBallPos].foundEmpty = 0;
-            if (detectFrontColor) {
-                NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
-
-                double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
-
-                if (gP >= 0.42) {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.GREEN;  // green
-                } else {
-                    ballPositions[spindexerBallPos].ballColor = BallColor.PURPLE;  // purple
-                }
-            }
-        } else {
-            if (!ballPositions[spindexerBallPos].isEmpty) {
-                if (ballPositions[spindexerBallPos].foundEmpty > 3) {
-                    resetBallPosition(spindexerBallPos);
-                }
-                ballPositions[spindexerBallPos].foundEmpty++;
-            }
-        }
-
-//      TELE.addData("Velocity", velo);
-//      TELE.addLine("Detecting");
-//      TELE.addData("Distance 1", s1D);
-//      TELE.addData("Distance 2", s2D);
-//      TELE.addData("Distance 3", s3D);
-//      TELE.addData("B1", b1);
-//      TELE.addData("B2", b2);
-//      TELE.addData("B3", b3);
-//      TELE.update();
-
-        return newPos1Detection;
-    }
-    // Has code to unjam spindexer
-    private void moveSpindexerToPos(double pos) {
-        servos.setSpinPos(pos);
-//        double currentPos = servos.getSpinPos();
-//        if (!servos.spinEqual(pos) && Math.abs(prevPos - currentPos) <= 0){
-//            if (currentPos > pos){
-//                robot.spin1.setPosition(servos.getSpinPos() + 0.05);
-//                robot.spin2.setPosition(1 - servos.getSpinPos() - 0.05);
-//            } else {
-//                robot.spin1.setPosition(servos.getSpinPos() - 0.05);
-//                robot.spin2.setPosition(1 - servos.getSpinPos() + 0.05);
-//            }
-//        }
-//        prevPos = pos;
-    }
-
-    public void stopSpindexer() {
-
-    }
-
-    public double getRearCenterLight() {
-        BallColor color = GetRearCenterColor();
-        if (Objects.equals(color, BallColor.GREEN)) {
-            return LightGreen;
-        } else if (Objects.equals(color, BallColor.PURPLE)) {
-            return LightPurple;
-        } else {
-            return LightOrange;
-        }
-    }
-
-
-    public double getDriverLight() {
-        BallColor color = GetFrontDriverColor();
-        if (Objects.equals(color, BallColor.GREEN)) {
-            return LightGreen;
-        } else if (Objects.equals(color, BallColor.PURPLE)) {
-            return LightPurple;
-        } else {
-            return LightOrange;
-        }
-    }
-
-    public double getPassengerLight() {
-        BallColor color = GetFrontPassengerColor();
-        if (Objects.equals(color, BallColor.GREEN)) {
-            return LightGreen;
-        } else if (Objects.equals(color, BallColor.PURPLE)) {
-            return LightPurple;
-        } else {
-            return LightOrange;
-        }
-    }
-    public double ballCounterLight() {
-        int counter = 0;
-        if (!ballPositions[0].isEmpty) {
-            counter++;
-        }
-        if (!ballPositions[1].isEmpty) {
-            counter++;
-        }
-        if (!ballPositions[2].isEmpty) {
-            counter++;
-        }
-
-        if (counter == 3) {
-            return Light3;
-        } else if (counter == 2) {
-            return Light2;
-        } else if (counter == 1) {
-            return Light1;
-        } else {
-            return Light0;
-        }
-    }
-
-
-
-
-    public boolean slotIsEmpty(int slot){
-        return !ballPositions[slot].isEmpty;
-    }
-
-    public boolean isFull () {
-        return (!ballPositions[0].isEmpty && !ballPositions[1].isEmpty && !ballPositions[2].isEmpty);
-    }
-
-    private double intakeTicker = 0;
-    public boolean processIntake() {
-
-        switch (currentIntakeState) {
-            case UNKNOWN_START:
-                // For now just set position ONE if UNKNOWN
-                commandedIntakePosition = 0;
-                servos.setSpinPos(intakePositions[0]);
-                currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
-                break;
-            case UNKNOWN_MOVE:
-                // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    currentIntakeState = Spindexer.IntakeState.UNKNOWN_DETECT;
-                    stopSpindexer();
-                    unknownColorDetect = 0;
-                } else {
-                    // Keep moving the spindexer
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-                }
-                break;
-            case UNKNOWN_DETECT:
-                if (unknownColorDetect >5) {
-                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
-                } else {
-                    //detectBalls(true, true);
-                    unknownColorDetect++;
-                }
-                break;
-            case INTAKE:
-                // Ready for intake and Detecting a New Ball
-                if (detectBalls(true, false)) {
-                    ballPositions[commandedIntakePosition].isEmpty = false;
-                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
-                } else {
-                    // Maintain Position
-                    spindexerWiggle *= -1.0;
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
-                }
-                break;
-            case FINDNEXT:
-                // Find Next Open Position and start movement
-                double currentSpindexerPos = servos.getSpinPos();
-                double commandedtravelDistance = 2.0;
-                double proposedTravelDistance = Math.abs(intakePositions[0] - currentSpindexerPos);
-                //if (ballPositions[0].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
-                if (ballPositions[0].isEmpty) {
-                    // Position 1
-                    commandedIntakePosition = 0;
-                    currentIntakeState = Spindexer.IntakeState.MOVING;
-                }
-                //proposedTravelDistance = Math.abs(intakePositions[1] - currentSpindexerPos);
-                //if (ballPositions[1].isEmpty && (proposedTravelDistance < commandedtravelDistance)) {
-                else if (ballPositions[1].isEmpty) {
-                    // Position 2
-                    commandedIntakePosition = 1;
-                    currentIntakeState = Spindexer.IntakeState.MOVING;
-                }
-                //proposedTravelDistance = Math.abs(intakePositions[2] - currentSpindexerPos);
-                else if (ballPositions[2].isEmpty) {
-                    // Position 3
-                    commandedIntakePosition = 2;
-                    currentIntakeState = Spindexer.IntakeState.MOVING;
-                }
-                if (currentIntakeState != Spindexer.IntakeState.MOVING) {
-                    // Full
-                    //commandedIntakePosition = bestFitMotif();
-                    currentIntakeState = Spindexer.IntakeState.FULL;
-                }
-                servos.setSpinPos(intakePositions[commandedIntakePosition]);
-                break;
-
-            case MOVING:
-                // Stopping when we get to the new position
-                if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    if (intakeTicker > 1){
-                        currentIntakeState = Spindexer.IntakeState.INTAKE;
-                        stopSpindexer();
-                        intakeTicker = 0;
-                    } else {
-                        intakeTicker++;
-                    }
-                    //detectBalls(false, false);
-                } else {
-                    // Keep moving the spindexer
-                    servos.setSpinPos(intakePositions[commandedIntakePosition]);
-                }
-                break;
-
-            case FULL:
-                // Double Check Colors
-                detectBalls(false, false); // Minimize hardware calls
-                if (ballPositions[0].isEmpty || ballPositions[1].isEmpty || ballPositions[2].isEmpty) {
-                    // Error handling found an empty spot, get it ready for a ball
-                    currentIntakeState = Spindexer.IntakeState.FINDNEXT;
-                }
-                // Maintain Position
-                spindexerWiggle *= -1.0;
-                servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
-                break;
-
-            case SHOOT_ALL_PREP:
-                // We get here with function call to prepareToShootMotif
-                // Stopping when we get to the new position
-                commandedIntakePosition = 0;
-                if (!servos.spinEqual(outakePositions[commandedIntakePosition])) {
-                    // Keep moving the spindexer
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]); // Possible error: should it be using "outakePositions" instead of "intakePositions"
-                }
-                break;
-
-            case SHOOT_ALL_READY: // Not used
-                // Double Check Colors
-                //detectBalls(false, false); // Minimize hardware calls
-                if (ballPositions[0].isEmpty && ballPositions[1].isEmpty && ballPositions[2].isEmpty) {
-                    // All ball shot move to intake state
-                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
-                }
-                // Maintain Position
-                servos.setSpinPos(outakePositions[commandedIntakePosition]);
-                break;
-
-            case SHOOTNEXT:
-                // Find Next Open Position and start movement
-                if (!ballPositions[0].isEmpty) {
-                    // Position 1
-                    commandedIntakePosition = 0;
-                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (!ballPositions[1].isEmpty) {
-                    // Position 2
-                    commandedIntakePosition = 1;
-                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else if (!ballPositions[2].isEmpty) {
-                    // Position 3
-                    commandedIntakePosition = 2;
-                    currentIntakeState = Spindexer.IntakeState.SHOOTMOVING;
-                } else {
-                    // Empty return to intake state
-                    currentIntakeState = IntakeState.FINDNEXT;
-                }
-                servos.setSpinPos(outakePositions[commandedIntakePosition]);
-                break;
-
-            case SHOOTMOVING:
-                // Stopping when we get to the new position
-                if (servos.spinEqual(outakePositions[commandedIntakePosition])) {
-                    currentIntakeState = Spindexer.IntakeState.SHOOTWAIT;
-                } else {
-                    // Keep moving the spindexer
-                    servos.setSpinPos(outakePositions[commandedIntakePosition]);
-                }
-                break;
-
-            case SHOOTWAIT:
-                // Stopping when we get to the new position
-                if (prevIntakeState != currentIntakeState) {
-                    if (commandedIntakePosition==2) {
-                        shootWaitMax = 5;
-                    }
-                    shootWaitCount = 0;
-                } else {
-                    shootWaitCount++;
-                }
-                // wait 10 cycles
-                if (shootWaitCount > shootWaitMax) {
-                    currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
-                    ballPositions[commandedIntakePosition].isEmpty = true;
-                    shootWaitCount = 0;
-                    //stopSpindexer();
-                    //detectBalls(true, false);
-                }
-                // Keep moving the spindexer
-                spindexerOuttakeWiggle *= -1.0;
-                servos.setSpinPos(outakePositions[commandedIntakePosition]+spindexerOuttakeWiggle);
-                break;
-
-            case SHOOT_PREP_CONTINOUS:
-                if (shootTicks > waitFirstBallTicks){
-                    currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
-                    shootTicks++;
-                } else if (servos.spinEqual(spinStartPos)){
-                    shootTicks++;
-                    servos.setTransferPos(transferServo_in);
-                } else {
-                    servos.setSpinPos(spinStartPos);
-                }
-                break;
-
-            case SHOOT_CONTINOUS:
-                whileShooting = true;
-                ballPositions[0].isEmpty = false;
-                ballPositions[1].isEmpty = false;
-                ballPositions[2].isEmpty = false;
-                if (servos.getSpinPos() > spinEndPos){
-                    whileShooting = false;
-                    servos.setTransferPos(transferServo_out);
-                    shootTicks = 0;
-                    currentIntakeState = IntakeState.FINDNEXT;
-                } else {
-                    double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
-                    if (spinPos > spinEndPos + 0.03){
-                        spinPos = spinEndPos + 0.03;
-                    }
-                    servos.setSpinPos(spinPos);
-                }
-                break;
-
-            default:
-                // Statements to execute if no case matches
-        }
-
-        prevIntakeState = currentIntakeState;
-        //TELE.addData("commandedIntakePosition", commandedIntakePosition);
-        //TELE.update();
-        // Signal a successful intake
-        return false;
-    }
-
-    public void setDesiredMotif (StateEnums.Motif newMotif) {
-        desiredMotif = newMotif;
-    }
-
-    // Returns the best fit for the motiff
-    public int bestFitMotif () {
-        switch (desiredMotif) {
-            case GPP:
-                if (ballPositions[0].ballColor == BallColor.GREEN) {
-                    return 2;
-                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
-                    return 0;
-                } else {
-                    return 1;
-                }
-                //break;
-            case PGP:
-                if (ballPositions[0].ballColor == BallColor.GREEN) {
-                    return 0;
-                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
-                    return 1;
-                } else {
-                    return 2;
-                }
-                //break;
-            case PPG:
-                if (ballPositions[0].ballColor == BallColor.GREEN) {
-                    return 1;
-                } else if (ballPositions[1].ballColor == BallColor.GREEN) {
-                    return 0;
-                } else {
-                    return 2;
-                }
-                //break;
-            case NONE:
-                return 0;
-            //break;
-        }
-        return 0;
-    }
-
-    void prepareToShootMotif () {
-        commandedIntakePosition = bestFitMotif();
-    }
-
-    public void prepareShootAll(){
-        currentIntakeState = Spindexer.IntakeState.SHOOT_ALL_PREP;
-    }
-    public void prepareShootAllContinous(){
-        currentIntakeState = Spindexer.IntakeState.SHOOT_PREP_CONTINOUS;
-    }
-    public void shootAll () {
-        ballPositions[0].isEmpty = false;
-        ballPositions[1].isEmpty = false;
-        ballPositions[2].isEmpty = false;
-        currentIntakeState = Spindexer.IntakeState.SHOOTNEXT;
-    }
-    public void shootAllContinous(){
-        ballPositions[0].isEmpty = false;
-        ballPositions[1].isEmpty = false;
-        ballPositions[2].isEmpty = false;
-        currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
-    }
-
-    public boolean shootAllComplete ()
-    {
-        return ((currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_PREP) &&
-                (currentIntakeState != Spindexer.IntakeState.SHOOT_ALL_READY) &&
-                (currentIntakeState != Spindexer.IntakeState.SHOOTMOVING) &&
-                (currentIntakeState != Spindexer.IntakeState.SHOOTNEXT) &&
-                (currentIntakeState != Spindexer.IntakeState.SHOOTWAIT) &&
-                (currentIntakeState != Spindexer.IntakeState.SHOOT_PREP_CONTINOUS) &&
-                (currentIntakeState != Spindexer.IntakeState.SHOOT_CONTINOUS));
-    }
-
-    void shootAllToIntake () {
-        currentIntakeState = Spindexer.IntakeState.FINDNEXT;
-    }
-
-    public void update()
-    {
-    }
-
-    public BallColor GetFrontDriverColor () {
-        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()]].ballColor;
-    }
-
-    public BallColor GetFrontPassengerColor () {
-        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()]].ballColor;
-    }
-
-    public BallColor GetRearCenterColor () {
-        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
-    }
-    private double prevPow = 0.501;
-    private boolean firstIntakePow = true;
-    public void setIntakePower(double pow){
-        if (firstIntakePow || prevPow != pow){
-            firstIntakePow = false;
-            robot.intake.setPower(pow);
-        }
-        prevPow = pow;
-    }
-}

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

@@ -1,237 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-
-import org.firstinspires.ftc.teamcode.constants.ServoPositions;
-
-public class Targeting {
-    // Known settings discovered using shooter test.
-    // Keep the fidelity at 1 floor tile for now but we could also half it if more
-    // accuracy is needed.
-    public static final Settings[][] KNOWNTARGETING;
-
-    static {
-        KNOWNTARGETING = new Settings[6][6];
-        // ROW 0 - Closet to the goals
-        KNOWNTARGETING[0][0] = new Settings(2300.0, 0.93);
-        KNOWNTARGETING[0][1] = new Settings(2300.0, 0.93);
-        KNOWNTARGETING[0][2] = new Settings(2500.0, 0.78);
-        KNOWNTARGETING[0][3] = new Settings(2800.0, 0.68);
-        KNOWNTARGETING[0][4] = new Settings(3000.0, 0.58);
-        KNOWNTARGETING[0][5] = new Settings(3000.0, 0.58);
-        // ROW 1
-        KNOWNTARGETING[1][0] = new Settings(2300.0, 0.93);
-        KNOWNTARGETING[1][1] = new Settings(2300.0, 0.93);
-        KNOWNTARGETING[1][2] = new Settings(2600.0, 0.78);
-//        KNOWNTARGETING[1][3] = new Settings (2800.0, 0.62);
-//        KNOWNTARGETING[1][4] = new Settings (3000.0, 0.55);
-//        KNOWNTARGETING[1][5] = new Settings (3200.0, 0.50);
-        KNOWNTARGETING[1][3] = new Settings(2800.0, 0.68);  // Real settings replaced with (0,3) new Settings (2800.0, 0.62);
-        KNOWNTARGETING[1][4] = new Settings(3000.0, 0.58);  // Real setting replaced with (0,4)  new Settings (3000.0, 0.55);
-        KNOWNTARGETING[1][5] = new Settings(3200.0, 0.50);
-        // ROW 2
-//        KNOWNTARGETING[2][0] = new Settings (2500.0, 0.78);
-//        KNOWNTARGETING[2][1] = new Settings (2500.0, 0.78);
-//        KNOWNTARGETING[2][2] = new Settings (2700.0, 0.60);
-//        KNOWNTARGETING[2][3] = new Settings (2900.0, 0.53);
-//        KNOWNTARGETING[2][4] = new Settings (3100.0, 0.50);
-//        KNOWNTARGETING[2][5] = new Settings (3100.0, 0.50);
-        KNOWNTARGETING[2][0] = new Settings(2500.0, 0.78);
-        KNOWNTARGETING[2][1] = new Settings(2500.0, 0.78);
-        KNOWNTARGETING[2][2] = new Settings(2700.0, 0.60);
-        KNOWNTARGETING[2][3] = new Settings(2800.0, 0.62);  // Real settings replaced with (1,3) new Settings (2900.0, 0.53);
-        KNOWNTARGETING[2][4] = new Settings(3000.0, 0.55);  // real settings replaces with (1,4) new Settings (3100.0, 0.50);
-        KNOWNTARGETING[2][5] = new Settings(3200.0, 0.50);  // real settings replaced with (1,5) new Settings (3100.0, 0.50);
-        // ROW 3
-        KNOWNTARGETING[3][0] = new Settings(2900.0, 0.50);
-        KNOWNTARGETING[3][1] = new Settings(2900.0, 0.50);
-        KNOWNTARGETING[3][2] = new Settings(2900.0, 0.50);
-        KNOWNTARGETING[3][3] = new Settings(3100.0, 0.47);
-        KNOWNTARGETING[3][4] = new Settings(3100.0, 0.47);
-        KNOWNTARGETING[3][5] = new Settings(3100.0, 0.47);
-        // ROW 4
-        KNOWNTARGETING[4][0] = new Settings(3100, 0.49);
-        KNOWNTARGETING[4][1] = new Settings(3100, 0.49);
-        KNOWNTARGETING[4][2] = new Settings(3100, 0.5);
-        KNOWNTARGETING[4][3] = new Settings(3200, 0.5);
-        KNOWNTARGETING[4][4] = new Settings(3250, 0.49);
-        KNOWNTARGETING[4][5] = new Settings(3300, 0.49);
-        // ROW 5
-        KNOWNTARGETING[5][0] = new Settings(3200, 0.48);
-        KNOWNTARGETING[5][1] = new Settings(3200, 0.48);
-        KNOWNTARGETING[5][2] = new Settings(3300, 0.48);
-        KNOWNTARGETING[5][3] = new Settings(3350, 0.48);
-        KNOWNTARGETING[5][4] = new Settings(3350, 0.48);
-        KNOWNTARGETING[5][5] = new Settings(3350, 0.48);
-
-    }
-
-    public final int TILE_UPPER_QUARTILE = 18;
-    public final int TILE_LOWER_QUARTILE = 6;
-    public double robotInchesX, robotInchesY = 0.0;
-    public int robotGridX, robotGridY = 0;
-    MultipleTelemetry TELE;
-    double cancelOffsetX = 0.0;  // was -40.0
-    double cancelOffsetY = 0.0;  // was 7.0
-    double unitConversionFactor = 0.95;
-    int tileSize = 24; //inches
-    public static boolean turretInterpolate = false;
-
-    public Targeting() {
-    }
-
-    double cos54 = Math.cos(Math.toRadians(-54));
-    double sin54 = Math.sin(Math.toRadians(-54));
-
-    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
-        Settings recommendedSettings = new Settings(0.0, 0.0);
-        if (!redAlliance){
-            sin54 = Math.sin(Math.toRadians(54));
-        } else {
-            sin54 = Math.sin(Math.toRadians(-54));
-        }
-        // TODO: test these values determined from the fmap
-        double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
-        double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
-
-        // Convert robot coordinates to inches
-        robotInchesX = rotatedX * unitConversionFactor;
-        robotInchesY = rotatedY * unitConversionFactor;
-
-        // Find approximate location in the grid
-        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
-        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
-
-        int remX = Math.floorMod((int) robotInchesX, tileSize);
-        int remY = Math.floorMod((int) robotInchesY, tileSize);
-
-        //clamp
-
-        //if (redAlliance) {
-            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        //} else {
-//            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-//            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        //}
-
-        // Determine if we need to interpolate based on tile position.
-        // if near upper or lower quarter or tile interpolate with next tile.
-        int x0 = 0;
-        int y0 = 0;
-        int x1 = 0;
-        int y1 = 0;
-        interpolate = false;
-        if ((remX > TILE_UPPER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
-                (robotGridX < 5) && (robotGridY < 5)) {
-            // +X, +Y
-            interpolate = true;
-            x0 = robotGridX;
-            x1 = robotGridX + 1;
-            y0 = robotGridY;
-            y1 = robotGridY + 1;
-        } else if ((remX < TILE_LOWER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
-                (robotGridX > 0) && (robotGridY > 0)) {
-            // -X, -Y
-            interpolate = true;
-            x0 = robotGridX - 1;
-            x1 = robotGridX;
-            y0 = robotGridY - 1;
-            y1 = robotGridY;
-        } else if ((remX > TILE_UPPER_QUARTILE) && (remY < TILE_LOWER_QUARTILE) &&
-                (robotGridX < 5) && (robotGridY > 0)) {
-            // +X, -Y
-            interpolate = true;
-            x0 = robotGridX;
-            x1 = robotGridX + 1;
-            y0 = robotGridY - 1;
-            y1 = robotGridY;
-        } else if ((remX < TILE_LOWER_QUARTILE) && (remY > TILE_UPPER_QUARTILE) &&
-                (robotGridX > 0) && (robotGridY < 5)) {
-            // -X, +Y
-            interpolate = true;
-            x0 = robotGridX - 1;
-            x1 = robotGridX;
-            y0 = robotGridY;
-            y1 = robotGridY + 1;
-        } else if ((remX < TILE_LOWER_QUARTILE) && (robotGridX > 0)) {
-            // -X, Y
-            interpolate = true;
-            x0 = robotGridX - 1;
-            x1 = robotGridX;
-            y0 = robotGridY;
-            y1 = robotGridY;
-        } else if ((remY < TILE_LOWER_QUARTILE) && (robotGridY > 0)) {
-            // X, -Y
-            interpolate = true;
-            x0 = robotGridX;
-            x1 = robotGridX;
-            y0 = robotGridY - 1;
-            y1 = robotGridY;
-        } else if ((remX > TILE_UPPER_QUARTILE) && (robotGridX < 5)) {
-            // +X, Y
-            interpolate = true;
-            x0 = robotGridX;
-            x1 = robotGridX + 1;
-            y0 = robotGridY;
-            y1 = robotGridY;
-        } else if ((remY > TILE_UPPER_QUARTILE) && (robotGridY < 5)) {
-            // X, +Y
-            interpolate = true;
-            x0 = robotGridX;
-            x1 = robotGridX;
-            y0 = robotGridY;
-            y1 = robotGridY + 1;
-        } else {
-            interpolate = false;
-        }
-
-        // basic search
-        if (true) { //!interpolate) {
-            if ((robotGridY < 6) && (robotGridX < 6)) {
-                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
-            }
-            return recommendedSettings;
-        } else {
-
-            // bilinear interpolation
-            //int x0 = robotGridX;
-            //int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
-            //int y0 = robotGridY;
-            //int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
-
-//            double x = (robotInchesX - (x0 * tileSize)) / tileSize;
-//            double y = (robotInchesY - (y0 * tileSize)) / tileSize;
-
-//            double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
-//            double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
-//            double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
-//            double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
-//
-//            double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
-//            double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
-//            double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
-//            double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
-
-//            recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
-//            recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
-            // Average target tiles
-            recommendedSettings.flywheelRPM = (KNOWNTARGETING[x0][y0].flywheelRPM + KNOWNTARGETING[x1][y1].flywheelRPM) / 2.0;
-            recommendedSettings.hoodAngle = (KNOWNTARGETING[x0][y0].hoodAngle + KNOWNTARGETING[x1][y1].hoodAngle) / 2.0;
-            return recommendedSettings;
-        }
-    }
-
-    public static class Settings {
-        public double flywheelRPM = 0.0;
-        public double hoodAngle = 0.0;
-
-        public Settings(double flywheelRPM, double hoodAngle) {
-            this.flywheelRPM = flywheelRPM;
-            this.hoodAngle = hoodAngle;
-        }
-    }
-}

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

@@ -1,370 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-import static java.lang.Math.abs;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.arcrobotics.ftclib.controller.PIDController;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
-import com.qualcomm.robotcore.hardware.DcMotor;
-
-import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
-import org.firstinspires.ftc.teamcode.constants.Color;
-
-import java.util.ArrayList;
-import java.util.List;
-
-@Config
-
-public class Turret {
-
-    public static double turretTolerance = 0.02;
-    public static double turrPosScalar = 0.00011264432;
-    public static double turret180Range = 0.54;
-    public static double turrDefault = 0.35;
-    public static double turrMin = 0;
-    public static double turrMax = 1;
-    public static boolean limelightUsed = true;
-    public static double limelightPosOffset = 5;
-    public static double manualOffset = 0.0;
-
-//    public static double visionCorrectionGain = 0.08;  // Single tunable gain
-//    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
-//    public static double cameraBearingEqual = 0.5;      // Deadband
-
-//    public static double clampTolerance = 0.03;
-    //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
-    public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
-    Robot robot;
-    MultipleTelemetry TELE;
-    Limelight3A webcam;
-    double tx = 0.0;
-    double ty = 0.0;
-    double limelightPosX = 0.0;
-    double limelightPosY = 0.0;
-    LLResult result;
-    public static double TARGET_POSITION_TOLERANCE = 0.5;
-    public static double COLOR_OK_TOLERANCE = 2;
-    boolean bearingAligned = false;
-    private boolean lockOffset = false;
-    private int obeliskID = 0;
-    private double offset = 0.0;
-    private double currentTrackOffset = 0.0;
-    private double lightColor = Color.LightRed;
-    private int currentTrackCount = 0;
-    double permanentOffset = 0.0;
-    private int prevPipeline = -1;
-    PIDController bearingPID;
-
-    public int llCoast = 0;
-    public int LL_COAST_TICKS = 60;
-
-    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
-        this.TELE = tele;
-        this.robot = rob;
-        this.webcam = cam;
-        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
-    }
-
-    public double getLightColor() {
-        return lightColor;
-    }
-
-    public void zeroTurretEncoder() {
-        robot.intake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        robot.intake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-    }
-
-    public double getTurrPos() {
-        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
-
-    }
-    private double prevTurrPos = 0;
-    private boolean isFirstTurretPos = true;
-    public void setTurret(double pos) {
-        if (isFirstTurretPos || prevTurrPos != pos){
-            robot.turr1.setPosition(pos);
-            robot.turr2.setPosition(1-pos);
-            isFirstTurretPos = false;
-        }
-        prevTurrPos = pos;
-    }
-    public void pipelineSwitch(int pipeline){
-        if (prevPipeline != pipeline){
-            robot.limelight.pipelineSwitch(pipeline);
-        }
-        prevPipeline = pipeline;
-    }
-
-    public boolean turretEqual(double pos) {
-        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
-    }
-
-    public static double alphaPosConstant = 0.3;
-    private void limelightRead() { // only for tracking purposes, not general reads
-        Double xPos = null;
-        Double yPos = null;
-        Double zPos = null;
-        Double hPos = null;
-        result = webcam.getLatestResult();
-        if (result != null) {
-            if (result.isValid()) {
-                tx = result.getTx();
-                ty = result.getTy();
-                // MegaTag1 code for receiving position
-                Pose3D botpose = result.getBotpose();
-                if (botpose != null) {
-                    limelightPosX = botpose.getPosition().x;
-                    limelightPosY = botpose.getPosition().y;
-                }
-                List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                    limelightTagPose = fiducial.getRobotPoseTargetSpace();
-                    if (limelightTagPose != null){
-                        xPos = limelightTagPose.getPosition().x;
-                        yPos = limelightTagPose.getPosition().y;
-                        zPos = limelightTagPose.getPosition().z;
-                        hPos = limelightTagPose.getOrientation().getYaw();
-                    }
-                }
-
-            }
-        }
-        if (xPos != null){
-            if (zPos<0) {
-                limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
-                limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
-                limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
-                limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
-            }
-        }
-    }
-
-    public double getBearing() {
-        tx = 1000;
-        limelightRead();
-        return tx;
-    }
-
-    public double getTy() {
-        return ty;
-    }
-
-    Pose3D limelightTagPose;
-    double limelightTagX = 0.0;
-    double limelightTagY = 0.0;
-    double limelightTagZ = 0.0;
-    double limelightTagH = 0.0;
-    public double getLimelightX() {
-        return limelightTagX;
-    }
-    public double getLimelightY() {return limelightTagY;}
-    public double getLimelightZ(){return limelightTagZ;}
-    public double getLimelightH(){return limelightTagH;}
-
-    public void relocalize(){
-        setTurret(turrDefault);
-        limelightRead();
-    }
-
-    public int detectObelisk() {
-        webcam.pipelineSwitch(1);
-        LLResult result = webcam.getLatestResult();
-        if (result != null && result.isValid()) {
-            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-            double prevTx  = -1000;
-            for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                double currentTx = fiducial.getTargetXDegrees();
-                if (currentTx > prevTx){
-                    obeliskID = fiducial.getFiducialId();
-                }
-            }
-        }
-        return obeliskID;
-    }
-
-    public int getObeliskID() {
-        return obeliskID;
-    }
-
-    public void zeroOffset() {
-        offset = 0.0;
-    }
-
-    public void lockOffset(boolean lock) {
-        lockOffset = lock;
-    }
-
-    /*
-        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
-     */
-    private double targetTx = 0;
-    public static double alphaTX = 0.5;
-    private double bearingAlign(LLResult llResult) {
-        double bearingOffset = 0.0;
-        double tx = llResult.getTx();   // How far left or right the target is (degrees)
-        targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
-//        final double MIN_OFFSET_POWER = 0.15;
-//        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
-//        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
-//        final double DRIVE_POWER_REDUCTION = 2.0;
-
-        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
-            bearingAligned = true;
-            lightColor = Color.LightBlue;
-        } else if (abs(targetTx) < COLOR_OK_TOLERANCE) {
-            bearingAligned = false;
-            lightColor = Color.LightPurple;
-        }  else {
-            bearingAligned = false;
-            lightColor = Color.LightOrange;
-        }
-
-        // Only with valid data and if too far off target
-        if (llResult.isValid() && !bearingAligned) {
-
-            // Adjust Robot Speed based on how far the target is located
-            // Only drive at half speed max
-            // switched to PID but original formula left for reference in comments
-            //drivePower = targetTx/HORIZONTAL_FOV_RANGE / DRIVE_POWER_REDUCTION;
-            bearingOffset = -(bearingPID.calculate(targetTx, 0.0));
-
-//            // Make sure we have enough power to actually drive the wheels
-//            if (abs(bearingOffset) < MIN_OFFSET_POWER) {
-//                if (bearingOffset > 0.0) {
-//                    bearingOffset = MIN_OFFSET_POWER;
-//                } else {
-//                    bearingOffset = -MIN_OFFSET_POWER;
-//                }
-//
-//            }
-        }
-
-        return bearingOffset;
-    }
-
-    public void trackGoal(Pose2d deltaPos) {
-
-        /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
-
-        // Angle from robot to goal in robot frame
-        double desiredTurretAngleDeg = Math.toDegrees(
-                Math.atan2(deltaPos.position.y, deltaPos.position.x)
-        );
-
-        // Robot heading (field → robot)
-        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
-
-        // Turret angle needed relative to robot
-        double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
-        turretAngleDeg = -turretAngleDeg;
-
-        // Normalize to [-180, 180]
-        while (turretAngleDeg > 180) turretAngleDeg -= 360;
-        while (turretAngleDeg < -180) turretAngleDeg += 360;
-
-
-        /* ---------------- LIMELIGHT VISION CORRECTION ---------------- */
-        // Update local limelight results
-        //double tagBearingDeg = getBearing();  // + = target is to the left
-        //boolean hasValidTarget = (tagBearingDeg != 1000.0);
-
-        turretAngleDeg += permanentOffset;
-
-
-        limelightRead();
-        // Active correction if we see the target
-        if (result.isValid() && !lockOffset && limelightUsed) {
-            currentTrackOffset += bearingAlign(result);
-            currentTrackCount++;
-
-            TELE.addData("LL Tracking: ", llCoast);
-
-            // Assume the last tracked value is always better than
-            // any previous value, even if its not fully aligned.
-            llCoast = LL_COAST_TICKS;
-//            double bearingError = Math.abs(tagBearingDeg);
-//
-//            if (bearingError > cameraBearingEqual) {
-//                // Apply sqrt scaling to reduce aggressive corrections at large errors
-//                double filteredBearing = Math.signum(tagBearingDeg) * Math.sqrt(Math.abs(tagBearingDeg));
-//
-//                // Calculate correction
-//                double offsetChange = visionCorrectionGain * filteredBearing;
-//
-//                // Limit rate of change to prevent jumps
-//                offsetChange = Math.max(-maxOffsetChangePerCycle,
-//                        Math.min(maxOffsetChangePerCycle, offsetChange));
-//
-//                // Accumulate the correction
-//                offset += offsetChange;
-//
-//                TELE.addData("Bearing Error", tagBearingDeg);
-//                TELE.addData("Offset Change", offsetChange);
-//                TELE.addData("Total Offset", offset);
-//            } else {
-//                // When centered, lock in the learned offset
-//                permanentOffset = offset;
-//                offset = 0.0;
-//            }
-        } else {
-            // only store perma update after 20+ successful tracks
-            // this did not work good in testing; only current works best so far.
-//            if (currentTrackCount > 20) {
-//                offset = currentTrackOffset;
-//            }
-            if (llCoast <= 0) {
-                TELE.addData("LL No Track: ", llCoast);
-                lightColor = Color.LightRed;
-                currentTrackOffset = 0.0;
-                currentTrackCount = 0;
-            } else {
-                TELE.addData("LL Coasting: ", llCoast);
-                llCoast--;
-            }
-        }
-
-        // Apply accumulated offset
-        turretAngleDeg += offset + currentTrackOffset;
-
-
-        /* ---------------- ANGLE → SERVO POSITION ---------------- */
-
-        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
-
-        // Clamp to physical servo limits
-        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
-
-        // Interpolate towards target position
-//        double currentPos = getTurrPos();
-        double turretPos = targetTurretPos;
-
-        if (targetTurretPos == turrMin) {
-            turretPos = turrMin;
-        } else if (targetTurretPos == turrMax) {
-            turretPos = turrMax;
-        }
-
-        // Set servo positions
-        if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
-            setTurret(turretPos + manualOffset);
-        }
-
-
-        /* ---------------- TELEMETRY ---------------- */
-
-//        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
-//        TELE.addData("Target Pos", "%.3f", targetTurretPos);
-//        TELE.addData("Current Pos", "%.3f", currentPos);
-//        TELE.addData("Commanded Pos", "%.3f", turretPos);
-//        TELE.addData("LL Valid", result.isValid());
-//        TELE.addData("LL getTx", result.getTx());
-//        TELE.addData("LL Offset", offset);
-//        TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
-//        TELE.addData("Learned Offset", "%.2f", offset);
-    }
-
-}

build.dependencies.gradle

@@ -9,21 +9,28 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:11.1.0'
+    implementation 'org.firstinspires.ftc:Inspection:11.0.0'
-    implementation 'org.firstinspires.ftc:Blocks:11.1.0'
+    implementation 'org.firstinspires.ftc:Blocks:11.0.0'
-    //noinspection Aligned16KB
+    implementation 'org.firstinspires.ftc:RobotCore:11.0.0'
-    implementation 'org.firstinspires.ftc:RobotCore:11.1.0'
+    implementation 'org.firstinspires.ftc:RobotServer:11.0.0'
-    implementation 'org.firstinspires.ftc:RobotServer:11.1.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:11.0.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:11.1.0'
+    implementation 'org.firstinspires.ftc:Hardware:11.0.0'
-    implementation 'org.firstinspires.ftc:Hardware:11.1.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:11.0.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:11.1.0'
+    implementation 'org.firstinspires.ftc:Vision:11.0.0'
-    implementation 'org.firstinspires.ftc:Vision:11.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
 
-    implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
+
-    implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
+    implementation 'com.pedropathing:ftc:2.0.1' //PedroCore
+    implementation 'com.pedropathing:telemetry:0.0.6' //PedroTele
+
     implementation 'com.bylazar:fullpanels:1.0.2' //Panels
+
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.25" //RR
+    implementation "com.acmerobotics.roadrunner:core:1.0.1" //RR
+    implementation "com.acmerobotics.roadrunner:actions:1.0.1" //RR
+    implementation "com.acmerobotics.dashboard:dashboard:0.4.17" //FTC Dash
+
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
 
     implementation 'com.rowanmcalpin.nextftc:core:0.6.2' //NEXT FTC
@@ -33,5 +40,11 @@ dependencies {
     implementation("page.j5155.AdvantageScope:lite:v26.0.0") //AS
 
 
+
+
+
+
+
+
 }
 

build.gradle

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