finished

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/AutoClose_V3.java

@@ -1,606 +0,0 @@
-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

@@ -1,619 +0,0 @@
-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/Blue_V2.java

@@ -3,9 +3,8 @@ 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 static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
 
 import androidx.annotation.NonNull;
 
@@ -178,8 +177,8 @@ public class Blue_V2 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    robot.turr1.setPower(turret_blueClose);
+                    robot.turr1.setPosition(turret_blue);
-                    robot.turr2.setPower(1 - turret_blueClose);
+                    robot.turr2.setPosition(1 - turret_blue);
                     return false;
                 } else {
                     return true;
@@ -203,8 +202,8 @@ public class Blue_V2 extends LinearOpMode {
                     position = spindexer_intakePos1 - 0.02;
                 }
 
-                robot.spin1.setPower(position);
+                robot.spin1.setPosition(position);
-                robot.spin2.setPower(1 - position);
+                robot.spin2.setPosition(1 - position);
 
                 if (ticker == 0) {
                     stamp = getRuntime();
@@ -264,8 +263,8 @@ public class Blue_V2 extends LinearOpMode {
                 velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
-                robot.spin1.setPower(spindexer);
+                robot.spin1.setPosition(spindexer);
-                robot.spin2.setPower(1-spindexer);
+                robot.spin2.setPosition(1-spindexer);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
@@ -380,8 +379,8 @@ public class Blue_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPower(position);
+                robot.spin1.setPosition(position);
-                robot.spin2.setPower(1 - position);
+                robot.spin2.setPosition(1 - position);
 
                 TELE.addData("Velocity", velo);
                 TELE.addLine("Intaking");
@@ -418,8 +417,8 @@ public class Blue_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPower(position);
+                robot.spin1.setPosition(position);
-                robot.spin2.setPower(1 - position);
+                robot.spin2.setPosition(1 - position);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -541,13 +540,13 @@ public class Blue_V2 extends LinearOpMode {
 
             robot.hood.setPosition(hoodAuto);
 
-            robot.turr1.setPower(turret_detectBlueClose);
+            robot.turr1.setPosition(turret_detectBlue);
-            robot.turr2.setPower(1 - turret_detectBlueClose);
+            robot.turr2.setPosition(1 - turret_detectBlue);
 
             robot.transferServo.setPosition(transferServo_out);
 
-            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin1.setPosition(spindexer_intakePos1);
-            robot.spin2.setPower(1 - spindexer_intakePos1);
+            robot.spin2.setPosition(1 - spindexer_intakePos1);
 
             aprilTag.update();
             TELE.addData("Velocity", velo);

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

@@ -3,6 +3,7 @@ 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 static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.*;
 
 import androidx.annotation.NonNull;
 
@@ -25,8 +26,6 @@ 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")
@@ -42,9 +41,8 @@ public class Red_V2 extends LinearOpMode {
 
     Flywheel flywheel;
 
-    Servos servo;
-
     double velo = 0.0;
+    double targetVelocity = 0.0;
     public static double intake1Time = 2.9;
 
     public static double intake2Time = 2.9;
@@ -59,33 +57,42 @@ public class Red_V2 extends LinearOpMode {
 
     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
 
+    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(vel, robot.shooter1.getCurrentPosition());
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
                 velo = flywheel.getVelo();
                 robot.shooter1.setPower(powPID);
                 robot.shooter2.setPower(powPID);
@@ -114,7 +121,7 @@ public class Red_V2 extends LinearOpMode {
             double stamp = 0.0;
             boolean steady = false;
             public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
                 velo = flywheel.getVelo();
                 steady = flywheel.getSteady();
                 robot.shooter1.setPower(powPID);
@@ -123,7 +130,7 @@ public class Red_V2 extends LinearOpMode {
 
                 TELE.addData("Velocity", velo);
                 TELE.update();
-                detectTag();
+
 
                 if (last && !steady){
                     stamp = getRuntime();
@@ -169,10 +176,9 @@ public class Red_V2 extends LinearOpMode {
                 TELE.update();
 
                 if (gpp || pgp || ppg){
-                    double turretPID = servo.setTurrPos(turret_redClose);
+                    robot.turr1.setPosition(turret_red);
-                    robot.turr1.setPower(turretPID);
+                    robot.turr2.setPosition(1 - turret_red);
-                    robot.turr2.setPower(-turretPID);
+                    return false;
-                    return !servo.turretEqual(turret_redClose);
                 } else {
                     return true;
                 }
@@ -180,17 +186,51 @@ public class Red_V2 extends LinearOpMode {
         };
     }
 
-    public Action spindex (double spindexer, int vel){
+    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;
+                }
 
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                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.spin1.setPosition(spindexer);
-                robot.spin2.setPower(1-spindexer);
+                robot.spin2.setPosition(1-spindexer);
                 TELE.addData("Velocity", velo);
                 TELE.addLine("spindex");
                 TELE.update();
@@ -199,32 +239,65 @@ public class Red_V2 extends LinearOpMode {
 
                 teleStart = drive.localizer.getPose();
 
-                return !servo.spinEqual(spindexer);
+                return !spindexPosEqual(spindexer);
             }
         };
     }
 
-    public Action Shoot(int vel) {
+    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();
 
-                powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
+                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();
-                detectTag();
 
                 teleStart = drive.localizer.getPose();
 
+
                 if (ticker == 1) {
                     transferStamp = getRuntime();
                     ticker++;
@@ -272,8 +345,8 @@ public class Red_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPower(position);
+                robot.spin1.setPosition(position);
-                robot.spin2.setPower(1 - position);
+                robot.spin2.setPosition(1 - position);
 
                 TELE.addData("Velocity", velo);
                 TELE.addLine("Intaking");
@@ -331,8 +404,8 @@ public class Red_V2 extends LinearOpMode {
                 } else {
                     position = spindexer_intakePos1 - 0.02;
                 }
-                robot.spin1.setPower(position);
+                robot.spin1.setPosition(position);
-                robot.spin2.setPower(1 - position);
+                robot.spin2.setPosition(1 - position);
 
                 double s1D = robot.color1.getDistance(DistanceUnit.MM);
                 double s2D = robot.color2.getDistance(DistanceUnit.MM);
@@ -454,14 +527,16 @@ public class Red_V2 extends LinearOpMode {
 
             robot.hood.setPosition(hoodAuto);
 
+            robot.turr1.setPosition(turret_detectRed);
+            robot.turr2.setPosition(1 - turret_detectRed);
+
             robot.transferServo.setPosition(transferServo_out);
 
-            robot.spin1.setPower(spindexer_intakePos1);
+            robot.spin1.setPosition(spindexer_intakePos1);
-            robot.spin2.setPower(1 - spindexer_intakePos1);
+            robot.spin2.setPosition(1 - spindexer_intakePos1);
 
             aprilTag.update();
             TELE.addData("Velocity", velo);
-            TELE.addData("Turret Pos", servo.getTurrPos());
             TELE.update();
         }
 
@@ -485,7 +560,7 @@ public class Red_V2 extends LinearOpMode {
 
             teleStart = drive.localizer.getPose();
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
             velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
@@ -521,7 +596,7 @@ public class Red_V2 extends LinearOpMode {
 
             teleStart = drive.localizer.getPose();
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
             velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
@@ -551,7 +626,7 @@ public class Red_V2 extends LinearOpMode {
                     )
             );
 
-            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
             velo = flywheel.getVelo();
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
@@ -572,25 +647,6 @@ public class Red_V2 extends LinearOpMode {
 
     }
 
-    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) {

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

@@ -1,5 +1,4 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 public class Color {
-    public static boolean redAlliance = true;
 }

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

@@ -12,21 +12,39 @@ public class Poses {
 
     public static double relativeGoalHeight = goalHeight - turretHeight;
 
+    public static double x1 = 50, y1 = 0, h1 = 0;
+
+    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
+
+    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
+
+    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
+
+    public static double tx = 0, ty = 0, th = 0;
+
     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 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 Pose2d teleStart = new Pose2d(rx1, ry1, rh1);
 

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

@@ -5,16 +5,16 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.34;
+    public static double spindexer_intakePos1 = 0.665;
 
-    public static double spindexer_intakePos2 = 0.5;
+    public static double spindexer_intakePos3 = 0.29;
 
-    public static double spindexer_intakePos3 = 0.66;
+    public static double spindexer_intakePos2 = 0.99;
 
-    public static double spindexer_outtakeBall3 = 0.42;
+    public static double spindexer_outtakeBall3 = 0.845;
 
-    public static double spindexer_outtakeBall2 = 0.74;
+    public static double spindexer_outtakeBall2 = 0.48;
-    public static double spindexer_outtakeBall1 = 0.58;
+    public static double spindexer_outtakeBall1 = 0.1;
 
     public static double transferServo_out = 0.15;
 
@@ -26,20 +26,16 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.55;
 
-    public static double hoodAutoFar = 0.5; //TODO: change this;
+    public static double hoodHigh = 0.21;
 
-    public static double hoodHigh = 0.21; //TODO: change this;
+    public static double hoodLow = 1.0;
 
-    public static double hoodLow = 1.0; //TODO: change this;
+    public static double turret_red = 0.42;
+    public static double turret_blue = 0.38;
 
-    public static double turret_redClose = 0.42;
+    public static double turret_detectRed = 0.2;
-    public static double turret_blueClose = 0.38;
-    public static double turret_redFar = 0.5; //TODO: change this
-    public static double turret_blueFar = 0.5; // TODO: change this
 
-    public static double turret_detectRedClose = 0.2;
+    public static double turret_detectBlue = 0.6;
-
-    public static double turret_detectBlueClose = 0.6;
     public static double turrDefault = 0.40;
 
 }

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

@@ -20,5 +20,4 @@ public class ShooterVars {
 
     // VELOCITY CONSTANTS
     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/teleop/TeleopV2.java

@@ -1,9 +1,19 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
-import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
+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.turrDefault;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransfer;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
+import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
+import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
+import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
+import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -16,9 +26,7 @@ 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;
@@ -27,8 +35,7 @@ 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;
@@ -56,7 +63,6 @@ public class TeleopV2 extends LinearOpMode {
     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<>();
@@ -92,11 +98,6 @@ public class TeleopV2 extends LinearOpMode {
     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) {
 
@@ -128,8 +129,6 @@ public class TeleopV2 extends LinearOpMode {
         TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
-        servo = new Servos(hardwareMap);
-        flywheel = new Flywheel();
 
         drive = new MecanumDrive(hardwareMap, teleStart);
 
@@ -137,6 +136,9 @@ public class TeleopV2 extends LinearOpMode {
 
         aprilTagWebcam.init(new Robot(hardwareMap), TELE);
 
+        robot.turr1.setPosition(0.4);
+        robot.turr2.setPosition(1 - 0.4);
+
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()) {
@@ -158,21 +160,6 @@ public class TeleopV2 extends LinearOpMode {
             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()) {
@@ -196,15 +183,22 @@ public class TeleopV2 extends LinearOpMode {
 
                 robot.intake.setPower(1);
 
+                double position;
+
                 if ((getRuntime() % 0.3) > 0.15) {
-                    spindexPos = spindexer_intakePos1 + 0.015;
+                    position = spindexer_intakePos1 + 0.015;
                 } else {
-                    spindexPos = spindexer_intakePos1 - 0.015;
+                    position = spindexer_intakePos1 - 0.015;
                 }
 
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1 - position);
+
             } else if (reject) {
                 robot.intake.setPower(-1);
-                spindexPos = spindexer_intakePos1;
+                double position = spindexer_intakePos1;
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1 - position);
             } else {
                 robot.intake.setPower(0);
             }
@@ -286,7 +280,46 @@ public class TeleopV2 extends LinearOpMode {
 
             //SHOOTER:
 
-            double powPID = flywheel.manageFlywheel((int) vel, robot.shooter1.getCurrentPosition());
+            double penguin = 0;
+
+            if (ticker % 8 == 0) {
+                penguin = (double) robot.shooterEncoder.getCurrentPosition() / 2048;
+                double stamp = getRuntime();
+                velo1 = -60 * ((penguin - initPos) / (stamp - stamp1));
+                initPos = penguin;
+                stamp1 = stamp;
+            }
+
+            velo = velo1;
+
+            double feed = vel / 4500;
+
+            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 ---
+            double 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;
+            }
+
+            TELE.addData("PIDPower", powPID);
+
+            TELE.addData("vel", velo1);
 
             robot.shooter1.setPower(powPID);
             robot.shooter2.setPower(powPID);
@@ -322,8 +355,7 @@ public class TeleopV2 extends LinearOpMode {
                 offset -= 360;
             }
 
-            //TODO: test the camera teleop code
+            double pos = turrDefault;
-            double pos = turrDefault + (error/8); // adds the overall error to the default
 
             TELE.addData("offset", offset);
 
@@ -335,51 +367,14 @@ public class TeleopV2 extends LinearOpMode {
                 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;
+
+                robot.turr1.setPosition(pos);
+                robot.turr2.setPosition(1 - pos);
             }
 
             if (gamepad2.dpad_right) {
@@ -460,9 +455,12 @@ public class TeleopV2 extends LinearOpMode {
                 reject = true;
 
                 if (getRuntime() % 3 > 1.5) {
-                    spindexPos = 1;
+                    robot.spin1.setPosition(0);
+                    robot.spin2.setPosition(1);
                 } else {
-                    spindexPos = 0;
+
+                    robot.spin1.setPosition(1);
+                    robot.spin2.setPosition(0);
                 }
 
                 robot.transferServo.setPosition(transferServo_out);
@@ -480,14 +478,39 @@ public class TeleopV2 extends LinearOpMode {
                     int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
                     boolean shootingDone = false;
 
+                    AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
+                    AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
+
+                    if (d20 != null) {
+                        overrideTurr = true;
+                        double bearing = d20.ftcPose.bearing;
+
+                        double finalPos = robot.turr1.getPosition() - (bearing / 1300);
+                        robot.turr1.setPosition(finalPos);
+                        robot.turr2.setPosition(1 - finalPos);
+
+                        TELE.addData("Bear", bearing);
+
+                    }
+
+                    if (d24 != null) {
+                        overrideTurr = true;
+
+                        double bearing = d24.ftcPose.bearing;
+                        double finalPos = robot.turr1.getPosition() - (bearing / 1300);
+                        robot.turr1.setPosition(finalPos);
+                        robot.turr2.setPosition(1 - finalPos);
+
+                    }
+
                     if (!outtake1) {
-                        outtake1 = (servo.spinEqual(spindexer_outtakeBall1));
+                        outtake1 = (spindexPosEqual(spindexer_outtakeBall1));
                     }
                     if (!outtake2) {
-                        outtake2 = (servo.spinEqual(spindexer_outtakeBall2));
+                        outtake2 = (spindexPosEqual(spindexer_outtakeBall2));
                     }
                     if (!outtake3) {
-                        outtake3 = (servo.spinEqual(spindexer_outtakeBall3));
+                        outtake3 = (spindexPosEqual(spindexer_outtakeBall3));
                     }
 
                     switch (currentSlot) {
@@ -530,7 +553,8 @@ public class TeleopV2 extends LinearOpMode {
 
                 } else {
                     // Finished shooting all balls
-                    spindexPos = spindexer_intakePos1;
+                    robot.spin1.setPosition(spindexer_intakePos1);
+                    robot.spin2.setPosition(1 - spindexer_intakePos1);
                     shootA = true;
                     shootB = true;
                     shootC = true;
@@ -743,9 +767,15 @@ public class TeleopV2 extends LinearOpMode {
         return countTrue > countWindow / 2.0; // more than 50% true
     }
 
+    boolean spindexPosEqual(double spindexer) {
+        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
+                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
+    }
+
     public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
         // Set spin positions
-        spindexPos = spindexer;
+        robot.spin1.setPosition(spindexer);
+        robot.spin2.setPosition(1 - spindexer);
 
         // Check if spindexer has reached the target position
         if (spinOk || getRuntime() - stamp > 1.5) {
@@ -900,4 +930,9 @@ public class TeleopV2 extends LinearOpMode {
         }
         return true; // default
     }
+
+    public double turretPos() {
+        return (scalar * ((robot.turr1Pos.getVoltage() - restPos) / 3.3));
+    }
+
 }

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

@@ -1,797 +0,0 @@
-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.Color.*;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
-
-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.Flywheel;
-import org.firstinspires.ftc.teamcode.utils.LimelightManager;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-
-import java.util.ArrayList;
-import java.util.List;
-
-@Config
-@TeleOp
-public class TeleopV3 extends LinearOpMode {
-    Robot robot;
-    MultipleTelemetry TELE;
-    Servos servo;
-    Flywheel flywheel;
-    MecanumDrive drive;
-    LimelightManager limelightManager;
-
-    public static double manualVel = 3000;
-    public static double hoodDefaultPos = 0.5;
-    public static double desiredTurretAngle = 180;
-    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;
-    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;
-    double hoodOffset = 0.0;
-    boolean shootA = true;
-    boolean shootB = true;
-    boolean shootC = true;
-    boolean manualTurret = false;
-    List<Integer> shootOrder = new ArrayList<>();
-    boolean outtake1 = false;
-    boolean outtake2 = false;
-    boolean outtake3 = false;
-    boolean overrideTurr = false;
-    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;
-    double spinCurrentPos = 0.0, spinInitPos = 0.0, intakeStamp = 0.0, spinningPow = 0.15;
-    boolean reverse = false;
-    int intakeTicker = 0;
-
-    @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);
-        limelightManager = new LimelightManager(hardwareMap, Robot.usingLimelight);
-        limelightManager.init();
-
-        if (redAlliance) {
-            limelightManager.switchMode(LimelightManager.LimelightMode.RED_GOAL);
-        } else {
-            limelightManager.switchMode(LimelightManager.LimelightMode.BLUE_GOAL);
-        }
-
-        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);
-
-            if (!servo.spinEqual(spindexPos) && !gamepad1.right_bumper) {
-                spindexPID = servo.setSpinPos(spindexPos);
-                robot.spin1.setPower(spindexPID);
-                robot.spin2.setPower(-spindexPID);
-            } else {
-                robot.spin1.setPower(0);
-                robot.spin2.setPower(0);
-            }
-
-            // INTAKE
-            if (gamepad1.right_bumper) {
-                robot.transferServo.setPosition(transferServo_out);
-                intakeTicker++;
-                if (intakeTicker % 16 == 0) {
-                    spinCurrentPos = servo.getSpinPos();
-                    if (Math.abs(spinCurrentPos - spinInitPos) == 0.0) {
-                        reverse = !reverse;
-                    }
-                    spinInitPos = spinCurrentPos;
-                }
-                if (reverse) {
-                    robot.spin1.setPower(spinningPow);
-                    robot.spin2.setPower(-spinningPow);
-                } else {
-                    robot.spin1.setPower(-spinningPow);
-                    robot.spin2.setPower(spinningPow);
-                }
-                robot.intake.setPower(1);
-                intakeStamp = getRuntime();
-                TELE.addData("Reverse?", reverse);
-                TELE.update();
-            } else if (gamepad1.left_bumper) {
-                robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
-                spindexPos = spindexer_intakePos2;
-                intakeTicker = 0;
-            } else {
-                if (getRuntime() - intakeStamp < 1) {
-                    robot.intake.setPower(-(getRuntime() - intakeStamp) * 2);
-                } else {
-                    robot.intake.setPower(0);
-                }
-                intakeTicker = 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 < 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);
-
-                s1G.add(gP);
-
-                if (gP >= 0.43) {
-                    s1.add(true);
-                } else {
-                    s1.add(false);
-                }
-
-                s1T.add(getRuntime());
-
-            }
-
-            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);
-
-                s2G.add(gP);
-
-                if (gP >= 0.43) {
-                    s2.add(true);
-                } else {
-                    s2.add(false);
-                }
-
-                s2T.add(getRuntime());
-            }
-
-            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);
-
-                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);
-
-            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
-                limelightManager.update();
-                double bearing = limelightManager.getBearing();
-                
-                if (limelightManager.getLatestResult() != null && limelightManager.getLatestResult().isValid()) {
-                    overrideTurr = true;
-                    turretPos = servo.getTurrPos() - (bearing / 1300);
-
-                    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++;
-                    TELE.addData("tx", bearing);
-                    TELE.addData("ty", limelightManager.getLatestResult().getTy());
-                }
-
-            } 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;
-
-            }
-
-            //TODO: FIX THIS GOOFY THING BECAUSE IT SUCKS @KeshavAnandCode
-            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;
-                }
-            }
-
-            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 (gamepad1.squareWasPressed()) {
-                    square = true;
-                    shootStamp = getRuntime();
-                    shootStamp2 = getRuntime();
-                    outtake1 = false;
-                    outtake2 = false;
-                    outtake3 = false;
-                }
-
-                if (gamepad1.circleWasPressed()) {
-                    circle = true;
-                    shootStamp = getRuntime();
-                    shootStamp2 = getRuntime();
-
-                    outtake1 = false;
-                    outtake2 = false;
-                    outtake3 = false;
-
-                }
-
-                if (gamepad1.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 (gamepad1.crossWasPressed()) {
-                    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;
-                }
-
-                //EXTRA STUFFINESS:
-
-                drive.updatePoseEstimate();
-
-                for (LynxModule hub : allHubs) {
-                    hub.clearBulkCache();
-                }
-
-                TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
-                TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
-                TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
-
-                TELE.addData("pose", drive.localizer.getPose());
-                TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
-                TELE.addData("distanceToGoal", distanceToGoal);
-                TELE.addData("hood", robot.hood.getPosition());
-                TELE.addData("targetVel", vel);
-
-                TELE.addData("shootOrder", shootOrder);
-                TELE.addData("oddColor", oddBallColor);
-
-                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) {
-        List<Double> times =
-                slot == 1 ? s1T :
-                slot == 2 ? s2T :
-                slot == 3 ? s3T : null;
-
-        if (times == null || times.isEmpty()) return false;
-
-        return times.get(times.size() - 1) > getRuntime() - 2;
-    }
-
-    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));
-        }
-    }
-
-}

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

@@ -1,55 +0,0 @@
-package org.firstinspires.ftc.teamcode.tests;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-
-@Config
-@TeleOp
-public class ColorTest extends LinearOpMode {
-    Robot robot;
-    MultipleTelemetry TELE;
-    @Override
-    public void runOpMode() throws InterruptedException {
-        robot = new Robot(hardwareMap);
-        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        waitForStart();
-        if (isStopRequested()) return;
-
-        while(opModeIsActive()){
-            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/IntakeTest.java

@@ -1,223 +0,0 @@
-package org.firstinspires.ftc.teamcode.tests;
-
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-
-import java.util.ArrayList;
-import java.util.List;
-
-@Config
-@TeleOp
-public class IntakeTest extends LinearOpMode {
-    Robot robot;
-    MultipleTelemetry TELE;
-    Servos servo;
-    public boolean green1 = false;
-    public boolean green2 = false;
-    public boolean green3 = false;
-    List<Double> s1G = new ArrayList<>();
-    List<Double> s2G = new ArrayList<>();
-    List<Double> s3G = new ArrayList<>();
-    List<Double> s1T = new ArrayList<>();
-    List<Double> s2T = new ArrayList<>();
-    List<Double> s3T = new ArrayList<>();
-    List<Boolean> s1 = new ArrayList<>();
-    List<Boolean> s2 = new ArrayList<>();
-    List<Boolean> s3 = new ArrayList<>();
-    public static int mode = 0; // 0 for teleop, 1 for auto
-    public static double manualPow = 0.15;
-    double stamp = 0;
-    int ticker = 0;
-    boolean steadySpin = false;
-    double powPID = 0.0;
-    boolean intake = true;
-    double spindexerPos = spindexer_intakePos1;
-    boolean wasMoving = false;
-    double currentPos = 0.0;
-    double initPos = 0.0;
-    boolean reverse = false;
-    @Override
-    public void runOpMode() throws InterruptedException {
-        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
-        for (LynxModule hub : allHubs) {
-            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
-        }
-        robot = new Robot(hardwareMap);
-        servo = new Servos(hardwareMap);
-        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        while (opModeIsActive()) {
-            if (mode == 0) {
-                if (gamepad1.right_bumper) {
-                    ticker++;
-                    if (ticker % 16 == 0){
-                        currentPos = servo.getSpinPos();
-                        if (Math.abs(currentPos - initPos) == 0.0){
-                            reverse = !reverse;
-                        }
-                        initPos = currentPos;
-                    }
-                    if (reverse){
-                        robot.spin1.setPower(manualPow);
-                        robot.spin2.setPower(-manualPow);
-                    } else {
-                        robot.spin1.setPower(-manualPow);
-                        robot.spin2.setPower(manualPow);
-                    }
-                    robot.intake.setPower(1);
-                    stamp = getRuntime();
-                    TELE.addData("Reverse?", reverse);
-                    TELE.update();
-                } else {
-                    robot.spin1.setPower(0);
-                    robot.spin2.setPower(0);
-
-                    if (getRuntime() - stamp < 1) {
-                        robot.intake.setPower(-(getRuntime() - stamp)*2);
-                    } else {
-                        robot.intake.setPower(0);
-                    }
-
-                    ticker = 0;
-                }
-            } else if (mode == 1) {
-
-                if (gamepad1.right_bumper && intake){
-                    robot.intake.setPower(1);
-                } else if (gamepad1.left_bumper){
-                    robot.intake.setPower(-1);
-                } else {
-                    robot.intake.setPower(0);
-                }
-
-                colorDetect();
-                spindexer();
-
-                if (ballIn(1) && steadySpin && intake && getRuntime() - stamp > 0.5){
-                    if (!ballIn(2)){
-                        if (servo.spinEqual(spindexer_intakePos1)){
-                            spindexerPos = spindexer_intakePos2;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
-                            spindexerPos = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
-                            spindexerPos = spindexer_intakePos1;
-                        }
-                    } else if (!ballIn(3)){
-                        if (servo.spinEqual(spindexer_intakePos1)){
-                            spindexerPos = spindexer_intakePos3;
-                        } else if (servo.spinEqual(spindexer_intakePos2)){
-                            spindexerPos = spindexer_intakePos1;
-                        } else if (servo.spinEqual(spindexer_intakePos3)){
-                            spindexerPos = spindexer_intakePos2;
-                        }
-                    }
-                }
-
-            } else if (mode == 2){ // switch to this mode before switching modes or to reset balls
-                powPID = 0;
-                spindexerPos = spindexer_intakePos1;
-                stamp = getRuntime();
-                ticker = 0;
-                spindexer();
-                intake = true;
-            }
-            for (LynxModule hub : allHubs) {
-                hub.clearBulkCache();
-            }
-            double y = -gamepad1.right_stick_y; // Remember, Y stick value is reversed
-            double x = gamepad1.right_stick_x * 1.1; // Counteract imperfect strafing
-            double rx = gamepad1.left_stick_x;
-
-            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
-            double frontLeftPower = (y + x + rx) / denominator;
-            double backLeftPower = (y - x + rx) / denominator;
-            double frontRightPower = (y - x - rx) / denominator;
-            double backRightPower = (y + x - rx) / denominator;
-
-            robot.frontLeft.setPower(frontLeftPower);
-            robot.backLeft.setPower(backLeftPower);
-            robot.frontRight.setPower(frontRightPower);
-            robot.backRight.setPower(backRightPower);
-
-            TELE.addData("Manual Power", manualPow);
-            TELE.addData("PID Power", powPID);
-            TELE.addData("B1", ballIn(1));
-            TELE.addData("B2", ballIn(2));
-            TELE.addData("B3", ballIn(3));
-            TELE.addData("Spindex Pos", servo.getSpinPos());
-            TELE.update();
-        }
-    }
-
-    public void colorDetect() {
-        double s1D = robot.color1.getDistance(DistanceUnit.MM);
-        double s2D = robot.color2.getDistance(DistanceUnit.MM);
-        double s3D = robot.color3.getDistance(DistanceUnit.MM);
-
-        TELE.addData("Color 1 Distance", s1D);
-        TELE.addData("Color 2 Distance", s2D);
-        TELE.addData("Color 3 Distance", s3D);
-        TELE.update();
-
-        if (s1D < 43) {
-            s1T.add(getRuntime());
-        }
-
-        if (s2D < 60) {
-            s2T.add(getRuntime());
-        }
-
-        if (s3D < 33) {
-            s3T.add(getRuntime());
-        }
-    }
-
-    public void spindexer() {
-        boolean atTarget = servo.spinEqual(spindexerPos);
-
-        if (!atTarget) {
-            powPID = servo.setSpinPos(spindexerPos);
-            robot.spin1.setPower(powPID);
-            robot.spin2.setPower(-powPID);
-
-            steadySpin = false;
-            wasMoving = true;   // remember we were moving
-            stamp = getRuntime();
-        } else {
-            robot.spin1.setPower(0);
-            robot.spin2.setPower(0);
-            steadySpin = true;
-            wasMoving = false;
-        }
-    }
-
-    boolean ballIn(int slot) {
-        List<Double> times;
-
-        if (slot == 1) {times = s1T;}
-        else if (slot == 2) {times = s2T;}
-        else if (slot == 3) {times = s3T;}
-        else return false;
-
-        if (!times.isEmpty()){
-            return times.get(times.size() - 1) > getRuntime() - 2;
-        } else {
-            return false;
-        }
-    }
-
-}

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

@@ -1,77 +0,0 @@
-package org.firstinspires.ftc.teamcode.tests;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.hardware.limelightvision.LLResult;
-import com.qualcomm.hardware.limelightvision.LLResultTypes;
-import com.qualcomm.hardware.limelightvision.Limelight3A;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import java.util.List;
-
-@Config
-@TeleOp
-//TODO: fix to get the apriltag that it is reading
-public class LimelightTest extends LinearOpMode {
-    MultipleTelemetry TELE;
-    public static int pipeline = 0; //0 is for test; 1 for obelisk; 2 is for blue track; 3 is for red track
-    public static int mode = 0; //0 for bare testing, 1 for obelisk, 2 for blue track, 3 for red track
-    @Override
-    public void runOpMode() throws InterruptedException {
-        Limelight3A limelight = hardwareMap.get(Limelight3A.class, "Limelight");
-        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        limelight.pipelineSwitch(pipeline);
-        waitForStart();
-        if (isStopRequested()) return;
-        limelight.start();
-        while (opModeIsActive()){
-            if (mode == 0){
-                limelight.pipelineSwitch(pipeline);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else if (mode == 1){
-                limelight.pipelineSwitch(1);
-                LLResult result = limelight.getLatestResult();
-                if (result != null && result.isValid()) {
-                    List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
-                    for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                        int id = fiducial.getFiducialId();
-                        TELE.addData("ID", id);
-                        TELE.update();
-                    }
-
-                }
-            } else if (mode == 2){
-                limelight.pipelineSwitch(4);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else if (mode == 3){
-                limelight.pipelineSwitch(5);
-                LLResult result = limelight.getLatestResult();
-                if (result != null) {
-                    if (result.isValid()) {
-                        TELE.addData("tx", result.getTx());
-                        TELE.addData("ty", result.getTy());
-                        TELE.update();
-                    }
-                }
-            } else {
-                limelight.pipelineSwitch(0);
-            }
-        }
-    }
-}

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

@@ -1,74 +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.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;
-
-    public static double target = 0.5;
-
-    public static int mode = 0; //0 is for turret, 1 is for spindexer
-
-    public static double scalar = 1.01;
-    public static double restPos = 0.0;
-
-    Robot robot;
-
-    double pos = 0.0;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        PIDFController controller = new PIDFController(p, i, d, f);
-
-        controller.setTolerance(0);
-        robot = new Robot(hardwareMap);
-
-        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        while (opModeIsActive()) {
-            controller.setPIDF(p, i, d, f);
-
-            if (mode == 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.setPower(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);
-            telemetry.update();
-
-        }
-
-    }
-}

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

@@ -1,7 +1,5 @@
 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;
@@ -9,7 +7,6 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
@@ -19,14 +16,18 @@ public class ShooterTest extends LinearOpMode {
     public static int mode = 0;
     public static double parameter = 0.0;
     // --- CONSTANTS YOU TUNE ---
+    public static double MAX_RPM = 4500;      // your measured max RPM
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
 
     //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
-    public static double transferPower = 1.0;
+    public static double transferPower = 0.0;
     public static double hoodPos = 0.501;
+
     public static double turretPos = 0.501;
-    public static boolean shoot = false;
     Robot robot;
-    Flywheel flywheel;
+    private double lastEncoderRevolutions = 0.0;
+    private double lastTimeStamp = 0.0;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -34,7 +35,7 @@ public class ShooterTest extends LinearOpMode {
         robot = new Robot(hardwareMap);
         DcMotorEx leftShooter = robot.shooter1;
         DcMotorEx rightShooter = robot.shooter2;
-        flywheel = new Flywheel();
+        DcMotorEx encoder = robot.shooter1;
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
@@ -46,35 +47,60 @@ public class ShooterTest extends LinearOpMode {
 
         while (opModeIsActive()) {
 
+            double kF = 1.0 / MAX_RPM;     // baseline feedforward
+
+            double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
+
+            double velocity = -60 * (encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
+
+            TELE.addLine("Mode: 0 = Manual, 1 = Vel, 2 = Pos");
+            TELE.addLine("Parameter = pow, vel, or pos");
+            TELE.addData("leftShooterPower", leftShooter.getPower());
+            TELE.addData("rightShooterPower", rightShooter.getPower());
+            TELE.addData("shaftEncoderPos", encoderRevolutions);
+            TELE.addData("shaftEncoderVel", velocity);
+
+            double velPID;
+
             if (mode == 0) {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                double powPID = flywheel.manageFlywheel((int) parameter, robot.shooter1.getCurrentPosition());
+
-                rightShooter.setPower(powPID);
+                // --- FEEDFORWARD BASE POWER ---
-                leftShooter.setPower(powPID);
+                double feed = kF * parameter;        // Example: vel=2500 → feed=0.5
-                TELE.addData("PIDPower", powPID);
+
+                // --- PROPORTIONAL CORRECTION ---
+                double error = parameter - velocity;
+                double correction = kP * error;
+
+                // limit how fast power changes (prevents oscillation)
+                correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+                // --- FINAL MOTOR POWER ---
+                velPID = feed + correction;
+
+                // clamp to allowed range
+                velPID = Math.max(0, Math.min(1, velPID));
+
+                rightShooter.setPower(velPID);
+                leftShooter.setPower(velPID);
+
             }
 
+            lastTimeStamp = getRuntime();
+            lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
+
             if (hoodPos != 0.501) {
                 robot.hood.setPosition(hoodPos);
             }
 
             if (turretPos!=0.501){
-                robot.turr1.setPower(turretPos);
+                robot.turr1.setPosition(turretPos);
-                robot.turr2.setPower(turretPos);
+                robot.turr2.setPosition(turretPos);
             }
 
             robot.transfer.setPower(transferPower);
-            if (shoot) {
-                robot.transferServo.setPosition(transferServo_in);
-            } else {
-                robot.transferServo.setPosition(transferServo_out);
-            }
-            TELE.addData("Velocity", flywheel.getVelo());
-            TELE.addData("Power", robot.shooter1.getPower());
-            TELE.addData("Steady?", flywheel.getSteady());
-            TELE.addData("Position", robot.shooter1.getCurrentPosition());
 
             TELE.update();
 

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

@@ -7,22 +7,21 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 
 public class Flywheel {
     Robot robot;
-    MultipleTelemetry TELE;
 
+    MultipleTelemetry TELE;
     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 prevSteady = false;
     double velo = 0.0;
-    double velo1 = 0.0;
+    double prevVelo = 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 () {
         //robot = new Robot(hardwareMap);
     }
@@ -42,22 +41,15 @@ public class Flywheel {
 
 
     public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
-        targetVelocity = commandedVelocity;
+        targetVelocity = (double) commandedVelocity;
 
         ticker++;
-        if (ticker % 2 == 0) {
+        if (ticker % 8 == 0) {
-            velo5 = velo4;
-            velo4 = velo3;
-            velo3 = velo2;
-            velo2 = velo1;
-
             currentPos = shooter1CurPos / 2048;
             stamp = getTimeSeconds(); //getRuntime();
-            velo1 = -60 * ((currentPos - initPos) / (stamp - stamp1));
+            velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
             initPos = currentPos;
             stamp1 = stamp;
-
-            velo = (velo1 + velo2 + velo3 + velo4 + velo5) / 5;
         }
         // Flywheel control code here
         if (targetVelocity - velo > 500) {
@@ -82,12 +74,19 @@ public class Flywheel {
         }
 
         // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 100.0);
+        if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0))
+        {
+            steady = true;
+        }
+        else
+        {
+            steady = false;
+        }
 
         return powPID;
     }
 
     public void update()
     {
-    }
+    };
-}
+};

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

@@ -1,104 +0,0 @@
-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/LimelightManager.java

@@ -1,103 +0,0 @@
-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/PositionalServoProgrammer.java

@@ -1,7 +1,5 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.tests.PIDServoTest.*;
-
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -13,47 +11,27 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 public class PositionalServoProgrammer extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
-    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 int mode = 0; //0 for positional, 1 for power
 
+    public static double scalar = 1.112;
+    public static double restPos = 0.15;
     @Override
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-        servo = new Servos(hardwareMap);
         waitForStart();
         if (isStopRequested()) return;
         while (opModeIsActive()){
-            if (spindexPos != 0.501 && !servo.spinEqual(spindexPos) && mode == 0){
+            if (spindexPos != 0.501){
-                double pos = servo.setSpinPos(spindexPos);
+                robot.spin1.setPosition(spindexPos);
-                robot.spin1.setPower(pos);
+                robot.spin2.setPosition(1-spindexPos);
-                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 && !servo.turretEqual(turretPos)){
+            if (turretPos != 0.501){
-                double pos = servo.setTurrPos(turretPos);
+                robot.turr1.setPosition(turretPos);
-                robot.turr1.setPower(pos);
+                robot.turr2.setPosition(1-turretPos);
-                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);
@@ -61,13 +39,14 @@ public class PositionalServoProgrammer extends LinearOpMode {
             if (hoodPos != 0.501){
                 robot.hood.setPosition(hoodPos);
             }
-            TELE.addData("spindexer", servo.getSpinPos());
+            TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
-            TELE.addData("turret", servo.getTurrPos());
+            TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
-            TELE.addData("spindexer voltage", robot.spin1Pos.getVoltage());
+            TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
-            TELE.addData("hood voltage", robot.hoodPos.getVoltage());
+            TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
-            TELE.addData("transferServo voltage", robot.transferServoPos.getVoltage());
+            TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
-            TELE.addData("turret voltage", robot.turr1Pos.getVoltage());
+            TELE.addData("hoodA", robot.hoodPos.getVoltage());
-            TELE.addData("Spin Equal", servo.spinEqual(spindexPos));
+            TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
+            TELE.addData("turretA", robot.turr1Pos.getVoltage());
             TELE.update();
         }
     }

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

@@ -1,9 +1,7 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-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;
@@ -20,42 +18,67 @@ public class Robot {
 
     public DcMotorEx frontLeft;
     public DcMotorEx frontRight;
+
     public DcMotorEx backLeft;
+
     public DcMotorEx backRight;
+
     public DcMotorEx intake;
+
     public DcMotorEx transfer;
+
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
+
     public Servo transferServo;
+
     public Servo rejecter;
-    public CRServo turr1;
+
-    public CRServo turr2;
+    public Servo turr1;
-    public CRServo spin1;
+
-    public CRServo spin2;
+    public Servo turr2;
+
+    public Servo spin1;
+
+    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 static boolean usingLimelight = true;
+    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 Robot(HardwareMap hardwareMap) {
 
@@ -81,8 +104,6 @@ public class Robot {
         shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
 
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
         shooterEncoder = shooter1;
 
@@ -90,25 +111,22 @@ public class Robot {
 
         hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
 
-        turr1 = hardwareMap.get(CRServo.class, "t1");
+        turr1 = hardwareMap.get(Servo.class, "t1");
 
         turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
 
-        turr2 = hardwareMap.get(CRServo.class, "t2");
+        turr2 = hardwareMap.get(Servo.class, "t2");
 
         turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
 
-        spin1 = hardwareMap.get(CRServo.class, "spin1");
+        spin1 = hardwareMap.get(Servo.class, "spin1");
 
         spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
 
-        spin2 = hardwareMap.get(CRServo.class, "spin2");
+        spin2 = hardwareMap.get(Servo.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");
@@ -142,9 +160,5 @@ public class Robot {
         color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
 
         color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
-
-        if (usingLimelight){
-            limelight = hardwareMap.get(Limelight3A.class, "limelight");
-        }
     }
 }

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

@@ -1,60 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.arcrobotics.ftclib.controller.PIDFController;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-@Config
-public class Servos {
-    Robot robot;
-
-    PIDFController spinPID;
-
-    PIDFController turretPID;
-
-    //PID constants
-    // 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;
-
-    public static double spin_scalar = 1.0086;
-    public static double spin_restPos = 0.0;
-    public static double turret_scalar = 1.009;
-    public static double turret_restPos = 0.0;
-
-    public Servos(HardwareMap hardwareMap) {
-        robot = new Robot(hardwareMap);
-        spinPID = new PIDFController(spinP, spinI, spinD, spinF);
-        turretPID = new PIDFController(turrP, turrI, turrD, turrF);
-    }
-
-    // In the code below, encoder = robot.servo.getVoltage()
-
-    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 setSpinPos(double pos) {
-        spinPID.setPIDF(spinP, spinI, spinD, spinF);
-
-        return spinPID.calculate(this.getSpinPos(), pos);
-    }
-
-    public boolean spinEqual(double pos) {
-        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;
-    }
-}