here you go keshav

pid is good, fix color
transfer changes
2025-11-30 16:42:45 -06:00 · 2025-11-29 18:14:03 -06:00 · 2025-11-29 14:29:26 -06:00 · 2025-11-29 14:11:37 -06:00 · 2025-11-28 19:21:54 -06:00 · 2025-11-28 18:58:15 -06:00
27 changed files with 2583 additions and 969 deletions
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -23,19 +23,6 @@ android {
    }
 }

-
-repositories {
-    maven {
-        url = 'https://maven.brott.dev/'
-    }
-}
-
 dependencies {
    implementation project(':FtcRobotController')
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.25"
-    implementation "com.acmerobotics.roadrunner:core:1.0.1"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
-    implementation "com.acmerobotics.dashboard:dashboard:0.5.1"
-    implementation 'org.ftclib.ftclib:core:2.1.1' // core
-
 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue.java
@@ -0,0 +1,478 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.h1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.h2;
+import static org.firstinspires.ftc.teamcode.constants.Poses.h2_b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.h3;
+import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x2;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x2_b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.x3;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y1;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y2;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y2_b;
+import static org.firstinspires.ftc.teamcode.constants.Poses.y3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
+import org.firstinspires.ftc.teamcode.subsystems.Transfer;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV1")
+public class Blue extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTag aprilTag;
+
+    Shooter shooter;
+
+
+
+    public static double angle = 0.1;
+
+    Spindexer spindexer;
+
+    Transfer transfer;
+
+    public class shooterOn implements Action {
+
+        int ticker = 1;
+
+        double stamp = 0.0;
+
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+            if (ticker ==1){
+                stamp = getRuntime();
+
+            }
+
+            ticker ++;
+
+            if (getRuntime() - stamp < 0.2){
+                return true;
+            } else if (getRuntime() - stamp < 0.4) {
+
+                shooter.setManualPower(1);
+
+                shooter.update();
+
+                return true;
+            } else {
+
+                return false;
+
+            }
+        }
+    }
+
+
+
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+
+
+
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0,0,0
+        ));
+
+        aprilTag = new AprilTag(robot, TELE);
+
+        shooter = new Shooter(robot, TELE);
+
+        spindexer = new Spindexer(robot, TELE);
+
+        spindexer.outtake3();
+
+        shooter.setShooterMode("MANUAL");
+
+        shooter.sethoodPosition(0.53);
+
+        transfer = new Transfer(robot);
+
+        transfer.setTransferPosition(transferServo_out);
+
+        Intake intake = new Intake(robot);
+
+        robot.hood.setPosition(hoodDefault);
+
+
+
+
+
+
+
+
+        TrajectoryActionBuilder traj1 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+
+        TrajectoryActionBuilder traj2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .turnTo(Math.toRadians(-135))
+                .strafeToLinearHeading(new Vector2d(x2, -y2), -h2 );
+
+
+        TrajectoryActionBuilder traj3 = drive.actionBuilder(new Pose2d(x2, -y2, -h2))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+        TrajectoryActionBuilder traj4 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+
+                .strafeToLinearHeading(new Vector2d(x2_b, -y2_b), -h2_b )
+
+                .strafeToLinearHeading(new Vector2d(x3, -y3), -h3 );
+
+
+        TrajectoryActionBuilder traj5 = drive.actionBuilder(new Pose2d(x3, -y3, -h3))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+
+        TrajectoryActionBuilder traj6 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .strafeToLinearHeading(new Vector2d(x1, y1-30), h1 );
+
+        while(opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()){
+                hoodDefault -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()){
+                hoodDefault += 0.01;
+            }
+
+            robot.hood.setPosition(hoodDefault);
+
+            shooter.setTurretPosition(turret_blue);
+
+            aprilTag.initTelemetry();
+
+            aprilTag.update();
+            shooter.update();
+
+            TELE.addData("hood", hoodDefault);
+
+            TELE.update();
+
+
+        }
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()){
+
+            robot.hood.setPosition(hoodDefault);
+
+            transfer.setTransferPower(1);
+
+            transfer.update();
+
+
+
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            traj1.build(),
+                            new shooterOn()
+                    )
+            );
+
+
+            transfer.setTransferPower(1);
+
+            transfer.update();
+
+            shooter.setManualPower(1);
+
+            double stamp = getRuntime();
+
+
+            stamp = getRuntime();
+
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.3);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(1);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+
+            robot.intake.setPower(1);
+
+            Actions.runBlocking(
+                    traj2.build()
+            );
+
+
+            Actions.runBlocking(
+                    traj3.build()
+            );
+
+            shooter.setManualPower(1);
+
+
+
+
+            robot.intake.setPower(0);
+
+            spindexer.outtake3();
+
+
+            stamp = getRuntime();
+
+            shooter.setManualPower(1);
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.3);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(1);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+            robot.intake.setPower(1);
+
+            Actions.runBlocking(
+                    traj4.build()
+            );
+
+
+            Actions.runBlocking(
+                    traj5.build()
+            );
+
+            shooter.setManualPower(1);
+
+
+
+
+            robot.intake.setPower(0);
+
+
+            stamp = getRuntime();
+
+            shooter.setManualPower(1);
+
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.3);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(1);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+
+            Actions.runBlocking(
+                    traj6.build()
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addLine("finished");
+
+            TELE.update();
+
+            sleep (2000);
+
+
+        }
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red.java
@@ -0,0 +1,431 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.Poses.*;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+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.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
+import org.firstinspires.ftc.teamcode.subsystems.Intake;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;
+import org.firstinspires.ftc.teamcode.subsystems.Spindexer;
+import org.firstinspires.ftc.teamcode.subsystems.Transfer;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+
+
+@Config
+@Autonomous
+public class Red extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTag aprilTag;
+
+    Shooter shooter;
+
+
+
+    public static double angle = 0.1;
+
+    Spindexer spindexer;
+
+    Transfer transfer;
+
+
+
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+
+
+
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0,0,0
+        ));
+
+        aprilTag = new AprilTag(robot, TELE);
+
+        shooter = new Shooter(robot, TELE);
+
+        spindexer = new Spindexer(robot, TELE);
+
+        spindexer.outtake3();
+
+        shooter.setShooterMode("MANUAL");
+
+        shooter.sethoodPosition(hoodDefault);
+
+        transfer = new Transfer(robot);
+
+        transfer.setTransferPosition(transferServo_out);
+
+        Intake intake = new Intake(robot);
+
+        robot.hood.setPosition(hoodDefault);
+
+
+
+
+
+
+
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .turnTo(Math.toRadians(135))
+                .strafeToLinearHeading(new Vector2d(x2, y2), h2 );
+
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(x2, y2, h2))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+
+                .strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b )
+
+                .strafeToLinearHeading(new Vector2d(x3, y3), h3 );
+
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(x3, y3, h3))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1 );
+
+
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .strafeToLinearHeading(new Vector2d(x1, y1+30), h1 );
+
+        while(opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()){
+                hoodDefault -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()){
+                hoodDefault += 0.01;
+            }
+
+            robot.hood.setPosition(hoodDefault);
+
+            shooter.setTurretPosition(turret_red);
+
+            aprilTag.initTelemetry();
+
+            aprilTag.update();
+            shooter.update();
+
+            TELE.update();
+        }
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()){
+
+            robot.hood.setPosition(hoodDefault);
+
+            transfer.setTransferPower(1);
+
+            transfer.update();
+
+
+
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build()
+                    )
+            );
+
+
+            transfer.setTransferPower(1);
+
+            transfer.update();
+
+            shooter.setManualPower(1);
+
+            double stamp = getRuntime();
+
+
+            stamp = getRuntime();
+
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.31);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(0);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+
+            robot.intake.setPower(1);
+
+            Actions.runBlocking(
+                    pickup1.build()
+            );
+
+
+            Actions.runBlocking(
+                    shoot1.build()
+            );
+
+            shooter.setManualPower(1);
+
+
+
+
+            robot.intake.setPower(0);
+
+            spindexer.outtake3();
+
+
+            stamp = getRuntime();
+
+            shooter.setManualPower(1);
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.31);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(0);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+            robot.intake.setPower(1);
+
+            Actions.runBlocking(
+                    pickup2.build()
+            );
+
+
+            Actions.runBlocking(
+                    shoot2.build()
+            );
+
+            shooter.setManualPower(1);
+
+
+
+
+            robot.intake.setPower(0);
+
+
+            stamp = getRuntime();
+
+            shooter.setManualPower(1);
+
+            while (getRuntime()-stamp<4.5) {
+
+
+
+                shooter.moveTurret(0.31);
+
+                double time = getRuntime()-stamp;
+
+
+                if (time < 0.3) {
+
+
+                    transfer.transferOut();
+                    transfer.setTransferPower(1);
+                } else if (time < 1) {
+
+                    spindexer.outtake3();
+
+
+                } else if (time < 1.4) {
+
+
+                    transfer.transferIn();
+                } else if (time < 2.6) {
+                    transfer.transferOut();
+
+                    spindexer.outtake2();
+
+
+
+                } else if (time < 3.0) {
+
+
+                    transfer.transferIn();
+                } else if (time < 4.0) {
+
+                    transfer.transferOut();
+
+                    spindexer.outtake1();
+
+                } else if (time < 4.4) {
+                    transfer.transferIn();
+                } else {
+
+                    transfer.transferOut();
+                    spindexer.outtake3();
+
+                    shooter.setManualPower(0);
+
+                }
+
+                transfer.update();
+
+                shooter.update();
+
+                spindexer.update();
+
+            }
+
+            spindexer.outtake3();
+
+            Actions.runBlocking(
+                    park.build()
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addLine("finished");
+
+            TELE.update();
+
+            sleep (2000);
+
+
+        }
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/redDaniel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/redDaniel.java
@@ -0,0 +1,298 @@
+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;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@Autonomous
+public class redDaniel extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTag aprilTag;
+
+    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
+    // TODO: change this velocity PID
+    public Action initShooter(int velocity){
+        return new Action(){
+            double velo = 0.0;
+            double initPos = 0.0;
+            double stamp = 0.0;
+            double powPID = 0.0;
+            double ticker = 0.0;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket){
+                velo = -60 * ((((double) robot.shooter1.getCurrentPosition() / 2048) - initPos) / (getRuntime() - stamp));
+                stamp = getRuntime();
+                initPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                if (Math.abs(velocity - velo) > initTolerance) {
+                    powPID = (double) velocity / maxVel;
+                    ticker = getRuntime();
+                } else if (velocity - velTolerance > velo) {
+                    powPID = powPID + 0.0001;
+                    ticker = getRuntime();
+                } else if (velocity + velTolerance < velo) {
+                    powPID = powPID - 0.0001;
+                    ticker  = getRuntime();
+                }
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower((powPID / 4) + 0.75);
+
+                return getRuntime() - ticker < 0.5;
+            }
+        };
+    }
+
+    public void Obelisk (){
+        // TODO: write the code to detect order
+    }
+
+    public Action Shoot(double spindexer){
+        return new Action() {
+            boolean transfer = false;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                robot.spin1.setPosition(spindexer);
+                robot.spin2.setPosition(1-spindexer);
+                if (scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01 && scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01){
+                    robot.transferServo.setPosition(transferServo_in);
+                    transfer = true;
+                }
+                if (scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3) < transferServo_in + 0.01 && scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3) > transferServo_in - 0.01 && transfer){
+                    robot.transferServo.setPosition(transferServo_out);
+                    return false;
+                }
+                return true;
+            }
+        };
+    }
+
+    public Action intake (){
+        return new Action() {
+            double position = 0.0;
+            final double intakeTime = 4.0; // TODO: change this so it serves as a backup
+            final double stamp = getRuntime();
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if ((getRuntime() % 0.3) >0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1-position);
+
+                robot.intake.setPower(1);
+
+                return !(robot.pin1.getState() && robot.pin3.getState() && robot.pin5.getState()) || getRuntime() - stamp > intakeTime;
+            }
+        };
+    }
+
+    public Action ColorDetect (){
+        return new Action() {
+            int t1 = 0;
+            int t2 = 0;
+            int t3 = 0;
+            int tP1 = 0;
+            int tP2 = 0;
+            int tP3 = 0;
+            final double stamp = getRuntime();
+            final double detectTime = 3.0;
+            double position = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if ((getRuntime() % 0.3) >0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1-position);
+                if (robot.pin1.getState()) {
+                    t1 += 1;
+                    if (robot.pin0.getState()){
+                        tP1 += 1;
+                    }
+                }
+                if (robot.pin3.getState()) {
+                    t2 += 1;
+                    if (robot.pin0.getState()){
+                        tP2 += 1;
+                    }
+                }
+                if (robot.pin5.getState()) {
+                    t3 += 1;
+                    if (robot.pin0.getState()){
+                        tP3 += 1;
+                    }
+                }
+                if (t1 > 20){
+                    if (tP1 > 20){
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+                if (t2 > 20){
+                    if (tP2 > 20){
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+                if (t3 > 20){
+                    if (tP3 > 20){
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+                return !(b1 + b2 + b3 >= 5) || (getRuntime() - stamp < detectTime);
+
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        aprilTag = new AprilTag(robot, TELE);
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .turnTo(Math.toRadians(h2))
+                .strafeToLinearHeading(new Vector2d(x2, y2), h2);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(x2, y2, h2))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(x1, y1, h1))
+
+                .strafeToLinearHeading(new Vector2d(x2_b, y2_b), h2_b)
+
+                .strafeToLinearHeading(new Vector2d(x3, y3), h3);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(x3, y3, h3))
+                .strafeToLinearHeading(new Vector2d(x1, y1), h1);
+
+        TrajectoryActionBuilder park = drive.actionBuilder(new Pose2d(x1, y1, h1))
+                .strafeToLinearHeading(new Vector2d(x1, y1 + 30), h1);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodDefault -= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodDefault += 0.01;
+            }
+
+            robot.hood.setPosition(hoodDefault);
+
+            robot.turr1.setPosition(turret_red);
+            robot.turr2.setPosition(1 - turret_red);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            aprilTag.initTelemetry();
+
+            aprilTag.update();
+
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.hood.setPosition(hoodDefault);
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build()
+                    )
+            );
+
+
+
+            Actions.runBlocking(
+                    pickup1.build()
+            );
+
+            Actions.runBlocking(
+                    shoot1.build()
+            );
+
+
+            Actions.runBlocking(
+                    pickup2.build()
+            );
+
+            Actions.runBlocking(
+                    shoot2.build()
+            );
+
+
+            Actions.runBlocking(
+                    park.build()
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addLine("finished");
+
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.constants;

+
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.roadrunner.Pose2d;

@@ -18,11 +19,11 @@ public class Poses {

    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 teleStart = new Pose2d(tx, ty, th);
+    public static Pose2d teleStart = new Pose2d(x1,-10,0);
+

-    public static Pose2d goalPose = new Pose2d(-15, 0, 0);

 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
@@ -29,7 +29,6 @@ public class ServoPositions {

    public static double turret_red = 0.43;
    public static double turret_blue = 0.4;
-    public static double turret_range = 0.9;


 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ShooterVars.java
@@ -13,7 +13,4 @@ public class ShooterVars {
    public static int initTolerance = 1000;

    public static int maxVel = 4000;
-    public static double waitTransfer = 0.4;
-    public static double waitTransferOut = 0.6;
-
 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
@@ -1,130 +1,147 @@
-## TeamCode Module
+# Team FTC Git Workflow Guide

-Welcome!

-This module, TeamCode, is the place where you will write/paste the code for your team's
-robot controller App. This module is currently empty (a clean slate) but the
-process for adding OpModes is straightforward.
+## 1. Cloning the Repository

-## Creating your own OpModes
+1. Open a terminal (or the terminal inside Android Studio).
+2. Navigate to the folder where you want to keep the project.
+3. Run:

-The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
-
-Sample opmodes exist in the FtcRobotController module.
-To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
-
-Expand the following tree elements:
-FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
-
-### Naming of Samples
-
-To gain a better understanding of how the samples are organized, and how to interpret the
-naming system, it will help to understand the conventions that were used during their creation.
-
-These conventions are described (in detail) in the sample_conventions.md file in this folder.
-
-To summarize: A range of different samples classes will reside in the java/external/samples.
-The class names will follow a naming convention which indicates the purpose of each class.
-The prefix of the name will be one of the following:
-
-Basic:    This is a minimally functional OpMode used to illustrate the skeleton/structure
-of a particular style of OpMode. These are bare bones examples.
-
-Sensor:        This is a Sample OpMode that shows how to use a specific sensor.
-It is not intended to drive a functioning robot, it is simply showing the minimal code
-required to read and display the sensor values.
-
-Robot:        This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
-It may be used to provide a common baseline driving OpMode, or
-to demonstrate how a particular sensor or concept can be used to navigate.
-
-Concept:    This is a sample OpMode that illustrates performing a specific function or concept.
-These may be complex, but their operation should be explained clearly in the comments,
-or the comments should reference an external doc, guide or tutorial.
-Each OpMode should try to only demonstrate a single concept so they are easy to
-locate based on their name. These OpModes may not produce a drivable robot.
-
-After the prefix, other conventions will apply:
-
-* Sensor class names are constructed as:    Sensor - Company - Type
-* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
-* Concept class names are constructed as:   Concept - Topic - OpModetype
-
-Once you are familiar with the range of samples available, you can choose one to be the
-basis for your own robot. In all cases, the desired sample(s) needs to be copied into
-your TeamCode module to be used.
-
-This is done inside Android Studio directly, using the following steps:
-
-1) Locate the desired sample class in the Project/Android tree.
-
-2) Right click on the sample class and select "Copy"
-
-3) Expand the TeamCode/java folder
-
-4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
-
-5) You will be prompted for a class name for the copy.
-   Choose something meaningful based on the purpose of this class.
-   Start with a capital letter, and remember that there may be more similar classes later.
-
-Once your copy has been created, you should prepare it for use on your robot.
-This is done by adjusting the OpMode's name, and enabling it to be displayed on the
-Driver Station's OpMode list.
-
-Each OpMode sample class begins with several lines of code like the ones shown below:
-
-```
- @TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
- @Disabled
+   ```bash
+   git clone https://github.com/KeshavAnandCode/DecodeFTCMain.git
+   cd DecodeFTCMain
   ```

-The name that will appear on the driver station's "opmode list" is defined by the code:
-``name="Template: Linear OpMode"``
-You can change what appears between the quotes to better describe your opmode.
-The "group=" portion of the code can be used to help organize your list of OpModes.
+4. Verify your remotes:

-As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
-``@Disabled`` annotation which has been included.
-This line can simply be deleted , or commented out, to make the OpMode visible.
+   ```bash
+   git remote -v
+   ```

-## ADVANCED Multi-Team App management:  Cloning the TeamCode Module
+   You should see:
+   ```
+   origin    https://github.com/KeshavAnandCode/DecodeFTCMain.git (fetch)
+   origin    https://github.com/KeshavAnandCode/DecodeFTCMain.git (push)
+   upstream  https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (fetch)
+   upstream  https://github.com/FIRST-Tech-Challenge/FtcRobotController.git (push)
+   ```

-In some situations, you have multiple teams in your club and you want them to all share
-a common code organization, with each being able to *see* the others code but each having
-their own team module with their own code that they maintain themselves.
+---

-In this situation, you might wish to clone the TeamCode module, once for each of these teams.
-Each of the clones would then appear along side each other in the Android Studio module list,
-together with the FtcRobotController module (and the original TeamCode module).
+## 2. Keeping `master` Clean

-Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
-prior to clicking to the green Run arrow.
+- `master` should only contain clean, tested code.
+- Nobody should ever code directly on `master`.
+- To stay up to date:

-Warning:  This is not for the inexperienced Software developer.
-You will need to be comfortable with File manipulations and managing Android Studio Modules.
-These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
+   ```bash
+   git checkout master
+   git fetch upstream
+   git merge upstream/master
+   git push origin master
+   ```

-Also.. Make a full project backup before you start this :)
+---

-To clone TeamCode, do the following:
+## 3. Creating a Feature Branch

-Note: Some names start with "Team" and others start with "team". This is intentional.
+Whenever you start a new task (feature, fix, experiment):

-1) Using your operating system file management tools, copy the whole "TeamCode"
-   folder to a sibling folder with a corresponding new name, eg: "Team0417".
+1. Update `master` (see above).
+2. Create a new branch from `master`:

-2) In the new Team0417 folder, delete the TeamCode.iml file.
+   ```bash
+   git checkout master
+   git pull origin master
+   git checkout -b feature/short-description
+   ```

-3) the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
-   to a matching name with a lowercase 'team' eg:  "team0417".
+### Branch Naming Standard

-4) In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that
-   contains
-   package="org.firstinspires.ftc.teamcode"
-   to be
-   package="org.firstinspires.ftc.team0417"
+Branches **must** follow the format:

-5) Add:    include ':Team0417' to the "/settings.gradle" file.
+```
+<type>/<short-description>
+```

-6) Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
+Where `<type>` is one of:
+- `feature/` → new functionality
+- `fix/` → bug fixes
+- `experiment/` → prototypes or tests
+- `docs/` → documentation updates
+- `chore/` → maintenance or cleanup
+
+Examples:
+- `feature/autonomous-path`
+- `fix/motor-init`
+- `experiment/vision-test`
+- `docs/setup-instructions`
+- `chore/gradle-update`
+
+**Rules for names:**
+- Use lowercase letters and hyphens (`-`) only.
+- Keep it short but clear (3–5 words).
+- One branch = one task. Never mix unrelated work.
+
+---
+
+## 4. Working on Your Branch
+
+- Make changes in Android Studio.
+- Stage and commit your changes:
+
+   ```bash
+   git add .
+   git commit -m "short message about what changed"
+   ```
+
+- Push your branch to GitHub:
+
+   ```bash
+   git push origin feature/short-description
+   ```
+
+---
+
+## 5. Sharing Your Work
+
+- Once your branch is ready:
+    1. Open a Pull Request (PR) on GitHub to merge into `master`.
+    2. At least one teammate should review before merging.
+
+---
+
+## 6. Branching Rules
+
+**Do:**
+- Always branch from `master`.
+- Follow the naming standard exactly.
+- Keep branches small and focused.
+- Delete branches after they’re merged.
+
+**Don’t:**
+- Don’t push commits directly to `master`.
+- Don’t leave unfinished work on `master`.
+- Don’t mix unrelated changes in one branch.
+
+---
+
+## 7. Example Workflow
+
+```bash
+# Get latest code
+git checkout master
+git fetch upstream
+git merge upstream/master
+git push origin master
+
+# Start a new feature
+git checkout -b feature/teleop-improvements
+
+# Work on code, then commit
+git add .
+git commit -m "improved joystick scaling in TeleOp"
+
+# Push branch
+git push origin feature/teleop-improvements
+```
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/AprilTag.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/AprilTag.java
@@ -0,0 +1,238 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+public class AprilTag implements Subsystem {
+
+    private AprilTagProcessor aprilTag;
+    private VisionPortal visionPortal;
+
+    private MultipleTelemetry TELE;
+
+    private boolean teleOn = false;
+
+    private int detections = 0;
+
+    List<AprilTagDetection> currentDetections;
+
+    ArrayList<ArrayList<Double>> Data = new ArrayList<>();
+
+
+
+    public AprilTag(Robot robot, MultipleTelemetry tele) {
+
+
+
+        this.aprilTag = robot.aprilTagProcessor;
+
+
+        this.TELE = tele;
+
+
+
+
+    }
+
+    @Override
+    public void update() {
+
+        currentDetections = aprilTag.getDetections();
+
+        UpdateData();
+
+        if(teleOn){
+            tagTELE();
+            initTelemetry();
+        }
+
+
+
+
+    }
+
+    public void initTelemetry (){
+
+        TELE.addData("Camera Preview", "Check Driver Station for stream");
+        TELE.addData("Status", "Initialized - Press START");
+
+
+
+    }
+
+    public void tagTELE () {
+
+        TELE.addData("# AprilTags Detected", detections);
+
+        // Display info for each detected tag
+        for (ArrayList<Double> detection : Data) {
+            if (detection.get(0) ==1) {
+                // Known AprilTag with metadata
+                TELE.addLine(String.format("\n==== (ID %d) %s ====",
+                        detection.get(1).intValue(), ""));
+
+                TELE.addLine(String.format("XYZ: %6.1f %6.1f %6.1f  (inch)",
+                        detection.get(2),
+                        detection.get(3),
+                        detection.get(4)));
+
+                TELE.addData("Distance", getDistance(detection.get(1).intValue()));
+
+                TELE.addLine(String.format("PRY: %6.1f %6.1f %6.1f  (deg)",
+                        detection.get(5),
+                        detection.get(6),
+                        detection.get(7)));
+
+                TELE.addLine(String.format("RBE: %6.1f %6.1f %6.1f  (inch, deg, deg)",
+                        detection.get(8),
+                        detection.get(9),
+                        detection.get(10)));
+            }
+        }
+    }
+
+
+    public void turnTelemetryOn(boolean bool) {
+
+        teleOn = bool;
+
+    }
+
+
+
+    public void UpdateData () {
+
+        Data.clear();  // <--- THIS FIXES YOUR ISSUE
+
+
+        detections = currentDetections.size();
+
+
+        for (AprilTagDetection detection : currentDetections) {
+
+            ArrayList<Double> detectionData = new ArrayList<Double>();
+
+
+
+            if (detection.metadata != null) {
+
+                detectionData.add(1.0);
+                // Known AprilTag with metadata
+
+                detectionData.add( (double) detection.id);
+
+
+
+                detectionData.add(detection.ftcPose.x);
+                detectionData.add(detection.ftcPose.y);
+                detectionData.add(detection.ftcPose.z);
+
+
+
+                detectionData.add(detection.ftcPose.pitch);
+                detectionData.add(detection.ftcPose.roll);
+                detectionData.add(detection.ftcPose.yaw);
+
+                detectionData.add(detection.ftcPose.range);
+                detectionData.add(detection.ftcPose.bearing);
+                detectionData.add(detection.ftcPose.elevation);
+
+            } else {
+
+                detectionData.add(0, 0.0);
+
+            }
+
+            Data.add(detectionData);
+        }
+
+    }
+
+    public int getDetectionCount() {
+
+        return detections;
+
+    }
+
+    public boolean isDetected (int id){
+        return (!filterID(Data, (double) id ).isEmpty());
+    }
+
+
+
+    public double getDistance(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 5) {
+            double x = d.get(2);
+            double y = d.get(3);
+            double z = d.get(4);
+            return Math.sqrt(x*x + y*y + z*z);
+        }
+        return -1; // tag not found
+    }
+
+    // Returns the position as [x, y, z]
+    public List<Double> getPosition(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 5) {
+            List<Double> pos = new ArrayList<>();
+            pos.add(d.get(2));
+            pos.add(d.get(3));
+            pos.add(d.get(4));
+            return pos;
+        }
+        return Collections.emptyList();
+    }
+
+    // Returns orientation as [pitch, roll, yaw]
+    public List<Double> getOrientation(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 8) {
+            List<Double> ori = new ArrayList<>();
+            ori.add(d.get(5));
+            ori.add(d.get(6));
+            ori.add(d.get(7));
+            return ori;
+        }
+        return Collections.emptyList();
+    }
+
+    // Returns range, bearing, elevation as [range, bearing, elevation]
+    public List<Double> getRBE(int id) {
+        ArrayList<Double> d = filterID(Data, (double) id);
+        if (d.size() >= 11) {
+            List<Double> rbe = new ArrayList<>();
+            rbe.add(d.get(8));
+            rbe.add(d.get(9));
+            rbe.add(d.get(10));
+            return rbe;
+        }
+        return Collections.emptyList();
+    }
+
+    // Returns full raw data for debugging or custom processing
+    public ArrayList<Double> getRawData(int id) {
+        return filterID(Data, (double) id);
+    }
+
+    public static ArrayList<Double> filterID(ArrayList<ArrayList<Double>> data, double x) {
+        for (ArrayList<Double> innerList : data) {
+            // Ensure it has a second element
+            if (innerList.size() > 1 && Math.abs(innerList.get(1) - x) < 1e-9) {
+                return innerList; // Return the first match
+            }
+        }
+        // Return an empty ArrayList if no match found
+        return new ArrayList<>();
+    }
+
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Drivetrain.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Drivetrain.java
@@ -0,0 +1,99 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
+
+import java.util.Objects;
+
+public class Drivetrain implements Subsystem {
+
+    private final GamepadEx gamepad;
+
+    public MultipleTelemetry TELE;
+
+    private String Mode = "Default";
+
+    private final DcMotorEx fl;
+
+    private final DcMotorEx fr;
+    private final DcMotorEx bl;
+    private final DcMotorEx br;
+
+    private double defaultSpeed = 0.7;
+
+    private double slowSpeed = 0.3;
+    public Drivetrain(Robot robot, MultipleTelemetry tele, GamepadEx gamepad1){
+
+        this.fl = robot.frontLeft;
+        this.fr = robot.frontRight;
+        this.br = robot.backRight;
+        this.bl = robot.backLeft;
+
+        this.gamepad = gamepad1;
+
+        this.TELE = tele;
+
+
+
+    }
+
+    public void setMode (String mode){
+        this.Mode = mode;
+    }
+
+    public void setDefaultSpeed (double speed){
+        this.defaultSpeed = speed;
+    }
+
+    public void setSlowSpeed (double speed){
+        this.slowSpeed = speed;
+    }
+
+    public void RobotCentric(double fwd, double strafe, double turn, double turbo){
+
+        double y = -fwd; // Remember, Y stick value is reversed
+        double x = strafe * 1.1; // Counteract imperfect strafing
+        double rx = turn;
+
+        // Denominator is the largest motor power (absolute value) or 1
+        // This ensures all the powers maintain the same ratio,
+        // but only if at least one is out of the range [-1, 1]
+        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;
+
+        fl.setPower(frontLeftPower*turbo);
+        bl.setPower(backLeftPower*turbo);
+        fr.setPower(frontRightPower*turbo);
+        br.setPower(backRightPower*turbo);
+
+    }
+
+
+    @Override
+    public void update() {
+
+        if (Objects.equals(Mode, "Default")) {
+
+            RobotCentric(
+                    gamepad.getRightY(),
+                    gamepad.getRightX(),
+                    gamepad.getLeftX(),
+                    (gamepad.getTrigger(
+                            GamepadKeys.Trigger.RIGHT_TRIGGER) * (1-defaultSpeed)
+                            - gamepad.getTrigger(GamepadKeys.Trigger.LEFT_TRIGGER) * slowSpeed
+                            + defaultSpeed
+                    )
+            );
+        }
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java
@@ -0,0 +1,80 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+public class Intake implements Subsystem {
+
+    private GamepadEx gamepad;
+
+    public MultipleTelemetry TELE;
+
+
+    private DcMotorEx intake;
+
+    private double intakePower = 1.0;
+
+    private int intakeState = 0;
+
+
+    public Intake (Robot robot){
+
+
+        this.intake = robot.intake;
+
+
+    }
+
+    public int getIntakeState() {
+        return intakeState;
+    }
+
+    public void toggle(){
+        if (intakeState !=0){
+            intakeState = 0;
+        } else {
+            intakeState = 1;
+        }
+    }
+
+    public void intakeMinPower(){
+        intakeState = 2;
+    }
+
+    public void intake(){
+        intakeState =1;
+    }
+
+    public void reverse(){
+        intakeState =-1;
+    }
+
+
+    public void stop(){
+        intakeState =0;
+    }
+
+
+
+
+    @Override
+    public void update() {
+
+        if (intakeState == 1){
+            intake.setPower(intakePower);
+        } else if (intakeState == -1){
+            intake.setPower(-intakePower);
+        } else if (intakeState == 2){
+            intake.setPower(intakePower);
+        }else {
+            intake.setPower(0);
+        }
+
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
@@ -0,0 +1,248 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import static org.firstinspires.ftc.teamcode.tests.ShooterTest.*;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.arcrobotics.ftclib.controller.PIDController;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.PIDCoefficients;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.constants.Poses;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+import java.util.Objects;
+
+public class Shooter implements Subsystem {
+    private final DcMotorEx fly1;
+    private final DcMotorEx fly2;
+
+    private final DcMotorEx encoder;
+    private final Servo hoodServo;
+
+    private final Servo turret1;
+
+    private final Servo turret2;
+
+    private final MultipleTelemetry telemetry;
+
+    private boolean telemetryOn = false;
+
+    private double manualPower = 0.0;
+    private double hoodPos = 0.0;
+
+    private double turretPos = 0.0;
+    private double velocity = 0.0;
+    private double posPower = 0.0;
+
+    public double velo = 0.0;
+
+    private int targetPosition = 0;
+
+    public double powPID = 1.0;
+
+    private double p = 0.0003, i = 0, d = 0.00001, f=0;
+
+    private PIDFController controller;
+    private double pow = 0.0;
+
+    private String shooterMode = "AUTO";
+
+    private String turretMode = "AUTO";
+
+    public Shooter(Robot robot, MultipleTelemetry TELE) {
+        this.fly1 = robot.shooter1;
+        this.fly2 = robot.shooter2;
+        this.telemetry = TELE;
+        this.hoodServo = robot.hood;
+
+        // Reset encoders
+        fly1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        fly2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+        fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        controller = new PIDFController(p, i, d, f);
+
+        controller.setPIDF(p, i, d, f);
+
+        this.turret1 = robot.turr1;
+
+        this.turret2 = robot.turr2;
+
+        this.encoder = robot.shooterEncoder;
+
+    }
+
+    public double gethoodPosition() {
+        return (hoodServo.getPosition());
+    }
+
+    public void sethoodPosition(double pos) { hoodPos = pos; }
+
+    public double getTurretPosition() {
+        return ((turret1.getPosition() + (1 - turret2.getPosition())) / 2);
+    }
+
+    public void setTurretPosition(double pos) { turretPos = pos; }
+
+    public double getVelocity(double vel) {
+        return vel;
+    }
+
+    public void setVelocity(double vel) { velocity = vel; }
+
+    public void setPosPower(double power) { posPower = power; }
+
+    public void setTargetPosition(int pos) {
+        targetPosition = pos;
+    }
+
+    public void setTolerance(int tolerance) {
+        controller.setTolerance(tolerance);
+    }
+
+    public void setControllerCoefficients(double kp, double ki, double kd, double kf) {
+        p = kp;
+        i = ki;
+        d = kd;
+        f = kf;
+        controller.setPIDF(p, i, d, f);
+
+    }
+
+    public PIDCoefficients getControllerCoefficients() {
+
+        return new PIDCoefficients(p, i, d);
+
+    }
+
+    public void setManualPower(double power) { manualPower = power; }
+
+    public String getShooterMode() { return shooterMode; }
+
+    public String getTurretMode() { return turretMode; }
+
+    public double getECPRPosition() {
+        return fly1.getCurrentPosition() / (2 * ecpr);
+    }
+
+    public double getMCPRPosition() {
+        return (double) fly1.getCurrentPosition() / 4;
+    }
+
+    public void setShooterMode(String mode) { shooterMode = mode; }
+
+    public void setTurretMode(String mode) { turretMode = mode; }
+
+    public double trackGoal(Pose2d robotPose, Pose2d goalPose, double offset) {
+
+        fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        Pose2d deltaPose = new Pose2d(
+                goalPose.position.x - robotPose.position.x,
+                goalPose.position.y - robotPose.position.y,
+                goalPose.heading.toDouble() - (robotPose.heading.toDouble())
+        );
+
+        double distance = Math.sqrt(
+                deltaPose.position.x * deltaPose.position.x
+                + deltaPose.position.y * deltaPose.position.y
+                + Poses.relativeGoalHeight * Poses.relativeGoalHeight
+        );
+
+        telemetry.addData("dst", distance);
+
+        double shooterPow = getPowerByDist(distance);
+
+        double hoodAngle = getAngleByDist(distance);
+
+//        hoodServo.setPosition(hoodAngle);
+
+        moveTurret(getTurretPosByDeltaPose(deltaPose, offset));
+
+        return distance;
+
+        //0.9974 * 355
+
+    }
+
+    public double getTurretPosByDeltaPose(Pose2d dPose, double offset) {
+
+        double deltaAngle = Math.toDegrees(dPose.heading.toDouble());
+
+        double aTanAngle = Math.toDegrees(Math.atan(dPose.position.y / dPose.position.x));
+
+        telemetry.addData("deltaAngle", deltaAngle);
+
+        if (deltaAngle > 90) {
+            deltaAngle -= 360;
+        }
+
+//        deltaAngle += aTanAngle;
+
+        deltaAngle /= (335);
+
+        telemetry.addData("dAngle", deltaAngle);
+
+        telemetry.addData("AtanAngle", aTanAngle);
+
+        return ((0.30 - deltaAngle) + offset);
+
+    }
+
+    //62, 0.44
+
+    //56.5, 0.5
+
+    public double getPowerByDist(double dist) {
+
+        //TODO: ADD LOGIC
+        return dist;
+    }
+
+    public double getAngleByDist(double dist) {
+
+        double newDist = dist - 56.5;
+
+        double pos = newDist * ((0.44 - 0.5) / (62 - 56.5)) + 0.46;
+
+        return pos;
+    }
+
+    public void setTelemetryOn(boolean state) { telemetryOn = state; }
+
+    public void moveTurret(double pos) {
+        turret1.setPosition(pos);
+        turret2.setPosition(1 - pos);
+    }
+
+    public double getpowPID() {
+        return powPID;
+    }
+
+    @Override
+    public void update() {
+
+        if (Objects.equals(shooterMode, "MANUAL")) {
+            fly1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+            fly2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+            fly1.setPower(manualPower);
+            fly2.setPower(manualPower);
+        } else if (Objects.equals(shooterMode, "VEL")) {
+            powPID = velocity;
+
+            fly1.setPower(powPID);
+            fly2.setPower(powPID);
+
+        }
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Spindexer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Spindexer.java
@@ -0,0 +1,255 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.AnalogInput;
+import com.qualcomm.robotcore.hardware.DigitalChannel;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+public class Spindexer implements Subsystem{
+
+    private Servo s1;
+    private Servo s2;
+
+    private DigitalChannel p0;
+
+    private DigitalChannel p1;
+    private DigitalChannel p2;
+    private DigitalChannel p3;
+    private DigitalChannel p4;
+
+    private DigitalChannel p5;
+
+    private AnalogInput input;
+
+    private AnalogInput input2;
+
+
+    private MultipleTelemetry TELE;
+
+    private double position = 0.501;
+
+    private boolean telemetryOn = false;
+
+    private boolean ball0 = false;
+
+    private boolean ball1 = false;
+
+    private boolean ball2 = false;
+
+    private boolean green0 = false;
+
+    private boolean green1 = false;
+
+    private boolean green2 = false;
+
+
+
+
+    public Spindexer (Robot robot, MultipleTelemetry tele){
+
+        this.s1 = robot.spin1;
+        this.s2 = robot.spin2;
+
+        this.p0 = robot.pin0;
+        this.p1 = robot.pin1;
+        this.p2 = robot.pin2;
+        this.p3 = robot.pin3;
+        this.p4 = robot.pin4;
+        this.p5 = robot.pin5;
+
+        this.input = robot.analogInput;
+
+        this.input2 = robot.analogInput2;
+
+        this.TELE = tele;
+
+    }
+
+    public void setTelemetryOn(boolean state){
+        telemetryOn = state;
+    }
+
+    public void colorSensorTelemetry() {
+
+
+        TELE.addData("ball0", ball0);
+        TELE.addData("ball1", ball1);
+        TELE.addData("ball2", ball2);
+        TELE.addData("green0", green0);
+        TELE.addData("green1", green1);
+        TELE.addData("green2", green2);
+
+
+
+    }
+
+    public void checkForBalls() {
+
+        if (p0.getState()){
+            ball0 = true;
+            green0 = p1.getState();
+        } else {
+            ball0 = false;
+        }
+
+        if (p2.getState()){
+            ball1 = true;
+            green1 = p3.getState();
+        } else {
+            ball1 = false;
+        }
+
+        if (p4.getState()){
+            ball2 = true;
+            green2 = p5.getState();
+        } else {
+            ball2 = false;
+        }
+    }
+
+    public void setPosition (double pos) {
+        position = pos;
+    }
+
+    public void intake () {
+        position = spindexer_intakePos1;
+    }
+
+    public void intakeShake(double runtime) {
+        if ((runtime % 0.25) >0.125) {
+            position = spindexer_intakePos1 + 0.04;
+        } else {
+            position = spindexer_intakePos1 - 0.04;
+
+        }
+    }
+
+    public void outtake3Shake(double runtime) {
+        if ((runtime % 0.25) >0.125) {
+            position = spindexer_outtakeBall3 + 0.04;
+        } else {
+            position = spindexer_outtakeBall3 - 0.04;
+
+        }
+    }
+
+
+    public void outtake3 () {
+        position = spindexer_outtakeBall3;
+    }
+
+    public void outtake2 () {
+        position = spindexer_outtakeBall2;
+    }
+
+    public void outtake1 () {
+        position = spindexer_outtakeBall1;
+    }
+
+
+    public int outtakeGreen(int secLast, int Last) {
+        if (green2 && (secLast!=3) && (Last!=3)) {
+            outtake3();
+            return 3;
+        } else if (green1 && (secLast!=2) && (Last!=2)){
+            outtake2();
+            return 2;
+        } else if (green0 && (secLast!=1) && (Last!=1)) {
+            outtake1();
+            return 1;
+        } else {
+
+            if (secLast!=1 && Last!= 1){
+                outtake1();
+                return 1;
+            } else if (secLast!=2 && Last!=2){
+                outtake2();
+                return 2;
+            } else {
+                outtake3();
+                return 3;
+            }
+
+        }
+    }
+
+
+
+    public void outtakeGreenFs() {
+        if (green0 && ball0) {
+            outtake1();
+        } else if (green1 && ball1){
+            outtake2();
+        } else if (green2 && ball2) {
+            outtake3();
+        }
+    }
+
+    public int greens() {
+        int num = 0;
+
+        if (green0){num++;}
+
+        if (green1){num++;}
+
+
+        if (green2){num++;}
+
+        return num;
+
+
+    }
+
+
+    public int outtakePurple(int secLast, int Last) {
+        if (!green2 && (secLast!=3) && (Last!=3)) {
+            outtake3();
+            return 3;
+        } else if (!green1 && (secLast!=2) && (Last!=2)){
+            outtake2();
+            return 2;
+        } else if (!green0 && (secLast!=1) && (Last!=1)) {
+            outtake1();
+            return 1;
+        } else {
+
+            if (secLast!=1 && Last!= 1){
+                outtake1();
+                return 1;
+            } else if (secLast!=2 && Last!=2){
+                outtake2();
+                return 2;
+            } else {
+                outtake3();
+                return 3;
+            }
+
+
+        }
+    }
+
+
+
+
+    @Override
+    public void update() {
+
+        if (position !=0.501) {
+
+            s1.setPosition(position);
+            s2.setPosition(1 - position);
+        }
+
+
+        if (telemetryOn) {
+            colorSensorTelemetry();
+        }
+
+
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Subsystem.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Subsystem.java
@@ -0,0 +1,6 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+public interface Subsystem {
+
+    public void update();
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Transfer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Transfer.java
@@ -0,0 +1,58 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+public class Transfer implements Subsystem{
+
+    private final Servo servo;
+
+    private final DcMotorEx transfer;
+
+    private double motorPow = 0.0;
+
+    private double servoPos = 0.501;
+
+    public Transfer (Robot robot){
+
+        this.servo = robot.transferServo;
+
+        this.transfer = robot.transfer;
+
+    }
+
+    public void setTransferPosition(double pos){
+        this.servoPos  = pos;
+    }
+
+    public void setTransferPower (double pow){
+        this.motorPow = pow;
+    }
+
+    public void transferOut(){
+        this.setTransferPosition(transferServo_out);
+    }
+
+    public void transferIn(){
+        this.setTransferPosition(transferServo_in);
+    }
+
+
+
+
+
+    @Override
+    public void update() {
+
+        if (servoPos!=0.501){
+            servo.setPosition(servoPos);
+        }
+
+        transfer.setPower(motorPow);
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
@@ -10,7 +10,6 @@ import com.acmerobotics.roadrunner.Pose2d;
 import com.arcrobotics.ftclib.gamepad.GamepadEx;
 import com.arcrobotics.ftclib.gamepad.GamepadKeys;
 import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

@@ -25,8 +24,8 @@ import org.firstinspires.ftc.teamcode.utils.Robot;

@Config
@TeleOp
-@Disabled
-public class old extends LinearOpMode {
+
+public class TeleopV1 extends LinearOpMode {

    Robot robot;

@@ -790,4 +789,3 @@ public class old extends LinearOpMode {

    }
 }
-
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
@@ -1,422 +0,0 @@
-package org.firstinspires.ftc.teamcode.teleop;
-
-import static org.firstinspires.ftc.teamcode.constants.Poses.goalPose;
-import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
-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.ShooterVars.waitTransfer;
-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;
-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.Robot;
-
-import java.util.ArrayList;
-import java.util.List;
-
-@TeleOp
-@Config
-public class TeleopV2 extends LinearOpMode {
-
-    public static double vel = 3000;
-    public static double hood = 0.5;
-    Robot robot;
-    MultipleTelemetry TELE;
-    boolean intake = false;
-    boolean reject = false;
-    int ticker = 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<>();
-    public static double desiredTurretAngle = 180;
-    MecanumDrive drive;
-    private double lastEncoderRevolutions = 0.0;
-    private double lastTimeStamp = 0.0;
-    private double velo1, velo;
-    private double stamp1, stamp, initPos;
-    private boolean shootAll = false;
-
-    boolean shoot1 = 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);
-        TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        drive = new MecanumDrive(hardwareMap, teleStart);
-
-        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);
-
-            //INTAKE:
-
-            if (gamepad1.rightBumperWasPressed()) {
-                intake = true;
-            }
-
-            if (gamepad1.leftBumperWasPressed()) {
-                intake = false;
-            }
-
-            if (intake) {
-
-                robot.transferServo.setPosition(transferServo_out);
-
-
-                robot.intake.setPower(1);
-
-                double position;
-
-                if ((getRuntime() % 0.3) > 0.15) {
-                    position = spindexer_intakePos1 + 0.015;
-                } else {
-                    position = spindexer_intakePos1 - 0.015;
-                }
-
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
-
-            } else if (reject) {
-                robot.intake.setPower(-1);
-                double position = spindexer_intakePos1;
-                robot.spin1.setPosition(position);
-                robot.spin2.setPosition(1 - position);
-            } else {
-                robot.intake.setPower(0);
-            }
-
-            //COLOR:
-
-            double s1D = robot.color1.getDistance(DistanceUnit.MM);
-            double s2D = robot.color2.getDistance(DistanceUnit.MM);
-            double s3D = robot.color3.getDistance(DistanceUnit.MM);
-
-            if (s1D < 40) {
-
-                double green = robot.color1.getNormalizedColors().green;
-                double red = robot.color1.getNormalizedColors().red;
-                double blue = robot.color1.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                s1G.add(gP);
-
-                if (gP >= 0.43) {
-                    s1.add(true);
-                } else {
-                    s1.add(false);
-                }
-
-                s1T.add(getRuntime());
-
-            }
-
-            if (s2D < 40) {
-
-                double green = robot.color2.getNormalizedColors().green;
-                double red = robot.color2.getNormalizedColors().red;
-                double blue = robot.color2.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                s2G.add(gP);
-
-                if (gP >= 0.43) {
-                    s2.add(true);
-                } else {
-                    s2.add(false);
-                }
-
-                s2T.add(getRuntime());
-            }
-
-            if (s3D < 30) {
-
-                double green = robot.color3.getNormalizedColors().green;
-                double red = robot.color3.getNormalizedColors().red;
-                double blue = robot.color3.getNormalizedColors().blue;
-
-                double gP = green / (green + red + blue);
-
-                s3G.add(gP);
-
-                if (gP >= 0.43) {
-                    s3.add(true);
-                } else {
-                    s3.add(false);
-                }
-
-                s3T.add(getRuntime());
-            }
-
-            boolean green1 = false;
-            boolean green2 = false;
-            boolean green3 = false;
-
-            if (!s1.isEmpty()) {
-                green1 = checkGreen(s1, s1T);
-            }
-            if (!s2.isEmpty()) {
-                green2 = checkGreen(s2, s2T);
-            if (!s3.isEmpty()) {
-                green3 = checkGreen(s3, s3T);            }
-            }
-
-            //SHOOTER:
-
-            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);
-
-            robot.transfer.setPower(1);
-
-            robot.hood.setPosition(hood);
-
-
-            //TODO: ADD CODE TO CHANGE VARIABLE VEL BASED ON POSITION
-
-            //TODO: ADD CODE TO CHANGE VARIABLE HOOD ANGLE BASED ON POSITION
-
-            //SHOOT ALL:
-
-            if (gamepad2.rightBumperWasPressed()) {
-                shootAll = true;
-            }
-
-            if (shootAll) {
-                intake = false;
-                reject = false;
-
-                if (robot.)
-
-            }
-
-            //TURRET:
-
-            double offset;
-
-            double robotX = drive.localizer.getPose().position.x;
-            double robotY = drive.localizer.getPose().position.y;
-
-            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
-
-
-
-            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
-
-            offset = desiredTurretAngle - 180 - Math.toDegrees(drive.localizer.getPose().heading.toDouble());
-
-
-
-            if (offset > 90) {
-                offset -= 360;
-            }
-
-            double pos = 0.3;
-
-            TELE.addData("offset", offset);
-
-
-            pos -= offset * (0.9 / 360);
-
-            if (pos < 0.02) {
-                pos = 0.02;
-            } else if (pos > 0.91) {
-                pos = 0.91;
-            }
-
-
-
-            robot.turr1.setPosition(pos);
-            robot.turr2.setPosition(1 - pos);
-
-            //SPINDEXER:
-
-            if (gamepad2.squareWasPressed()){
-                shoot1 = true;
-            }
-
-
-
-
-
-            //MISC:
-
-
-            drive.updatePoseEstimate();
-
-            for (LynxModule hub : allHubs) {
-                hub.clearBulkCache();
-            }
-
-            TELE.addData("Spin1Green", green1);
-            TELE.addData("Spin2Green", green2);
-            TELE.addData("Spin3Green", green3);
-
-            TELE.addData("pose", drive.localizer.getPose());
-            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
-
-            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
-    }
-
-    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);
-    }
-
-    // Fields to keep state across calls
-    private double transferStamp = 0.0;
-    private int ticker = 1;
-
-    public boolean shootTeleop(double spindexer) {
-        // Spin motors
-        robot.spin1.setPosition(spindexer);
-        robot.spin2.setPosition(1 - spindexer);
-
-        // Default transfer position
-        robot.transferServo.setPosition(transferServo_out);
-
-        if (spindexPosEqual(spindexer)) {
-            if (ticker == 1) {
-                transferStamp = getRuntime();
-                ticker++;
-            }
-
-            if (getRuntime() - transferStamp > waitTransfer) {
-                robot.transferServo.setPosition(transferServo_in);
-            } else {
-                robot.transferServo.setPosition(transferServo_out);
-            }
-        } else {
-            robot.transferServo.setPosition(transferServo_out);
-            ticker = 1;
-            transferStamp = getRuntime();
-        }
-
-        TELE.addLine("shooting");
-        TELE.update();
-
-        // Return true while transfer servo hasn't reached "in" position
-        return !transferPosEqual(transferServo_in);
-    }
-
-
-
-
-}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TransferTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TransferTest.java
@@ -0,0 +1,35 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.subsystems.Transfer;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@TeleOp
+public class TransferTest extends LinearOpMode {
+
+    Robot robot;
+
+
+    Transfer transfer;
+
+    public static double pos = 0.40;
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        transfer = new Transfer(robot);
+
+        waitForStart();
+
+        while (opModeIsActive()){
+            transfer.setTransferPosition(pos);
+        }
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/WebcamTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/WebcamTest.java
@@ -0,0 +1,59 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.AprilTag;
+
+
+@TeleOp
+@Config
+public class WebcamTest extends LinearOpMode {
+
+    AprilTag webcam;
+
+    MultipleTelemetry TELE;
+
+    Robot robot;
+
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        webcam = new AprilTag(robot, TELE);
+
+        webcam.turnTelemetryOn(true);
+
+
+
+
+        while(opModeInInit()){
+
+            webcam.initTelemetry();
+
+            TELE.update();
+
+        };
+
+        if(isStopRequested()) return;
+
+
+        while (opModeIsActive()){
+
+            webcam.update();
+
+            TELE.update();
+
+        }
+
+
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ActiveColorSensorTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ActiveColorSensorTest.java
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/AprilTagWebcamExample.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/AprilTagWebcamExample.java
@@ -1,37 +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.OpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-
-@Config
-@TeleOp
-public class AprilTagWebcamExample extends OpMode {
-
-    MultipleTelemetry TELE;
-    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
-
-    @Override
-    public void init() {
-        TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
-
-        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
-
-    }
-
-    @Override
-    public void loop() {
-
-        aprilTagWebcam.update();
-        aprilTagWebcam.displayAllTelemetry();
-        TELE.update();
-
-    }
-}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorSensorTest.java
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
@@ -1,45 +1,85 @@
 package org.firstinspires.ftc.teamcode.tests;

+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
+
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotor;

 import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Shooter;

-@Config
@TeleOp
+@Config
 public class ShooterTest extends LinearOpMode {

-    public static int mode = 0;
-    public static double parameter = 0.0;
-    // --- CONSTANTS YOU TUNE ---
-    public static double MAX_RPM = 2500;      // your measured max RPM
-    public static double kP = 0.01;           // small proportional gain (tune this)
-    public static double maxStep = 0.2;         // prevents sudden jumps
-
-    //TODO: @Daniel FIX THE BELOW CONSTANTS A LITTLE IF NEEDED
-    public static double transferPower = 0.0;
-    public static double hoodPos = 0.501;
-
-    public static double turretPos = 0.501;
    Robot robot;
-    private double lastEncoderRevolutions = 0.0;
-    private double lastTimeStamp = 0.0;
+
+    public static double pow = 0.0;
+    public static double vel = 0.0;
+    public static double ecpr = 1024.0; // CPR of the encoder
+    public static double hoodPos = 0.5;
+    public static double turretPos = 0.9;
+
+    public static String flyMode = "VEL";
+
+    public static boolean AutoTrack = false;
+
+    double initPos = 0.0;
+
+    double velo = 0.0;
+    double velo1 = 0.0;
+    double velo2 = 0.0;
+    double velo3 = 0.0;
+    double velo4 = 0.0;
+    double velo5 = 0.0;
+
+    double stamp1 = 0.0;
+
+    double initPos1 = 0.0;
+
+    double powPID = 0.0;
+
+    public static int maxVel = 4500;
+
+    public static boolean shoot = false;
+
+    public static int spindexPos = 1;
+
+    public static boolean intake = true;
+
+    public static int tolerance = 50;
+
+    double stamp = 0.0;
+
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+    public static double distance = 50;
+
+    MultipleTelemetry TELE;

    @Override
    public void runOpMode() throws InterruptedException {

        robot = new Robot(hardwareMap);
-        DcMotorEx leftShooter = robot.shooter1;
-        DcMotorEx rightShooter = robot.shooter2;
-        DcMotorEx encoder = robot.shooter1;

-        MultipleTelemetry TELE = new MultipleTelemetry(
-                telemetry, FtcDashboard.getInstance().getTelemetry()
-        );
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        Shooter shooter = new Shooter(robot, TELE);
+
+        robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        shooter.setTelemetryOn(true);
+
+        shooter.setShooterMode(flyMode);
+
+        initPos = shooter.getECPRPosition();
+
+        int ticker = 0;

        waitForStart();

@@ -47,64 +87,124 @@ public class ShooterTest extends LinearOpMode {

        while (opModeIsActive()) {

-            double kF = 1.0 / MAX_RPM;     // baseline feedforward
+            ticker++;

-            double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
+            if (AutoTrack){
+                hoodPos = hoodAnglePrediction(distance);
+                vel = velPrediction(distance);
+            }

-            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;
+            shooter.setShooterMode(flyMode);

-            if (mode == 0) {
-                rightShooter.setPower(parameter);
-                leftShooter.setPower(parameter);
-            } else if (mode == 1) {
+            shooter.setManualPower(pow);

-                // --- FEEDFORWARD BASE POWER ---
-                double feed = kF * parameter;        // Example: vel=2500 → feed=0.5
+            robot.hood.setPosition(hoodPos);
+            robot.turr1.setPosition(turretPos);
+            robot.turr2.setPosition(1 - turretPos);
+            if (intake) {
+                robot.transfer.setPower(0);
+                robot.intake.setPower(0.75);
+                robot.spin1.setPosition(spindexer_intakePos1);
+                robot.spin2.setPosition(1 - spindexer_intakePos1);
+            } else {
+                robot.transfer.setPower(.75 + (powPID/4));
+                robot.intake.setPower(0);
+                if (spindexPos == 1) {
+                    robot.spin1.setPosition(spindexer_outtakeBall1);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall1);
+                } else if (spindexPos == 2) {
+                    robot.spin1.setPosition(spindexer_outtakeBall2);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall2);
+                } else if (spindexPos == 3) {
+                    robot.spin1.setPosition(spindexer_outtakeBall3);
+                    robot.spin2.setPosition(1 - spindexer_outtakeBall3);
+                }
+            }
+
+            double penguin = 0;
+            if (ticker % 8 ==0){
+                penguin = shooter.getECPRPosition();
+                stamp = getRuntime();
+                velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
+                initPos1 = penguin;
+                stamp1 = stamp;
+            }
+
+
+            velo = velo1;
+
+            double feed = vel / maxVel;        // Example: vel=2500 → feed=0.5
+
+            if (vel > 500){
+                feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+            }

            // --- PROPORTIONAL CORRECTION ---
-                double error = parameter - velocity;
+            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 ---
-                velPID = feed + correction;
+            powPID = feed + correction;

            // clamp to allowed range
-                velPID = Math.max(0, Math.min(1, velPID));
-
-                rightShooter.setPower(velPID);
-                leftShooter.setPower(velPID);
+            powPID = Math.max(0, Math.min(1, powPID));

+            if (vel - velo > 1000){
+                powPID = 1;
+            } else if (velo - vel > 1000){
+                powPID = 0;
            }

-            lastTimeStamp = getRuntime();
-            lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
+            shooter.setVelocity(powPID);

-            if (hoodPos != 0.501) {
-                robot.hood.setPosition(hoodPos);
+            if (shoot) {
+                robot.transferServo.setPosition(transferServo_in);
+            } else {
+                robot.transferServo.setPosition(transferServo_out);
            }

-            if (turretPos!=0.501){
-                robot.turr1.setPosition(turretPos);
-                robot.turr2.setPosition(turretPos);
-            }
-
-            robot.transfer.setPower(transferPower);
+            shooter.update();

+            TELE.addData("Revolutions", shooter.getECPRPosition());
+            TELE.addData("hoodPos", shooter.gethoodPosition());
+            TELE.addData("turretPos", shooter.getTurretPosition());
+            TELE.addData("Power Fly 1", robot.shooter1.getPower());
+            TELE.addData("Power Fly 2", robot.shooter2.getPower());
+            TELE.addData("powPID", shooter.getpowPID());
+            TELE.addData("Velocity", velo);
            TELE.update();

+
        }

    }
+
+    public double hoodAnglePrediction(double distance) {
+        double L = 0.298317;
+        double A = 1.02124;
+        double k = 0.0157892;
+        double n = 3.39375;
+
+        double dist = Math.sqrt(distance*distance+24*24);
+
+        return L + A * Math.exp(-Math.pow(k * dist, n));
+    }
+    public static double velPrediction(double distance) {
+
+        double x = Math.sqrt(distance*distance+24*24);
+
+
+
+        double A = -211149.992;
+        double B = -1.19943;
+        double C = 3720.15909;
+
+        return A * Math.pow(x, B) + C;
+    }
+
 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ed.txt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ed.txt
@@ -1,210 +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.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.subsystems.Shooter;
-
-@TeleOp
-@Config
-public class ShooterTest extends LinearOpMode {
-
-    Robot robot;
-
-    public static double pow = 0.0;
-    public static double vel = 0.0;
-    public static double ecpr = 1024.0; // CPR of the encoder
-    public static double hoodPos = 0.5;
-    public static double turretPos = 0.9;
-
-    public static String flyMode = "VEL";
-
-    public static boolean AutoTrack = false;
-
-    double initPos = 0.0;
-
-    double velo = 0.0;
-    double velo1 = 0.0;
-    double velo2 = 0.0;
-    double velo3 = 0.0;
-    double velo4 = 0.0;
-    double velo5 = 0.0;
-
-    double stamp1 = 0.0;
-
-    double initPos1 = 0.0;
-
-    double powPID = 0.0;
-
-    public static int maxVel = 4500;
-
-    public static boolean shoot = false;
-
-    public static int spindexPos = 1;
-
-    public static boolean intake = true;
-
-    public static int tolerance = 50;
-
-    double stamp = 0.0;
-
-    public static double kP = 0.001;           // small proportional gain (tune this)
-    public static double maxStep = 0.06;         // prevents sudden jumps
-    public static double distance = 50;
-
-    MultipleTelemetry TELE;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        robot = new Robot(hardwareMap);
-
-        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        Shooter shooter = new Shooter(robot, TELE);
-
-        robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-
-        shooter.setTelemetryOn(true);
-
-        shooter.setShooterMode(flyMode);
-
-        initPos = shooter.getECPRPosition();
-
-        int ticker = 0;
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        while (opModeIsActive()) {
-
-            ticker++;
-
-            if (AutoTrack){
-                hoodPos = hoodAnglePrediction(distance);
-                vel = velPrediction(distance);
-            }
-
-
-
-            shooter.setShooterMode(flyMode);
-
-            shooter.setManualPower(pow);
-
-            robot.hood.setPosition(hoodPos);
-            robot.turr1.setPosition(turretPos);
-            robot.turr2.setPosition(1 - turretPos);
-            if (intake) {
-                robot.transfer.setPower(0);
-                robot.intake.setPower(0.75);
-                robot.spin1.setPosition(spindexer_intakePos1);
-                robot.spin2.setPosition(1 - spindexer_intakePos1);
-            } else {
-                robot.transfer.setPower(.75 + (powPID/4));
-                robot.intake.setPower(0);
-                if (spindexPos == 1) {
-                    robot.spin1.setPosition(spindexer_outtakeBall1);
-                    robot.spin2.setPosition(1 - spindexer_outtakeBall1);
-                } else if (spindexPos == 2) {
-                    robot.spin1.setPosition(spindexer_outtakeBall2);
-                    robot.spin2.setPosition(1 - spindexer_outtakeBall2);
-                } else if (spindexPos == 3) {
-                    robot.spin1.setPosition(spindexer_outtakeBall3);
-                    robot.spin2.setPosition(1 - spindexer_outtakeBall3);
-                }
-            }
-
-            double penguin = 0;
-            if (ticker % 8 ==0){
-                penguin = shooter.getECPRPosition();
-                stamp = getRuntime();
-                velo1 = -60 * ((penguin - initPos1) / (stamp - stamp1));
-                initPos1 = penguin;
-                stamp1 = stamp;
-            }
-
-
-            velo = velo1;
-
-            double feed = vel / maxVel;        // Example: vel=2500 → feed=0.5
-
-            if (vel > 500){
-                feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
-            }
-
-            // --- PROPORTIONAL CORRECTION ---
-            double error = vel - velo1;
-            double correction = kP * error;
-
-            // limit how fast power changes (prevents oscillation)
-            correction = Math.max(-maxStep, Math.min(maxStep, correction));
-
-            // --- FINAL MOTOR POWER ---
-            powPID = feed + correction;
-
-            // clamp to allowed range
-            powPID = Math.max(0, Math.min(1, powPID));
-
-            if (vel - velo > 1000){
-                powPID = 1;
-            } else if (velo - vel > 1000){
-                powPID = 0;
-            }
-
-            shooter.setVelocity(powPID);
-
-            if (shoot) {
-                robot.transferServo.setPosition(transferServo_in);
-            } else {
-                robot.transferServo.setPosition(transferServo_out);
-            }
-
-            shooter.update();
-
-            TELE.addData("Revolutions", shooter.getECPRPosition());
-            TELE.addData("hoodPos", shooter.gethoodPosition());
-            TELE.addData("turretPos", shooter.getTurretPosition());
-            TELE.addData("Power Fly 1", robot.shooter1.getPower());
-            TELE.addData("Power Fly 2", robot.shooter2.getPower());
-            TELE.addData("powPID", shooter.getpowPID());
-            TELE.addData("Velocity", velo);
-            TELE.update();
-
-
-        }
-
-    }
-
-    public double hoodAnglePrediction(double distance) {
-        double L = 0.298317;
-        double A = 1.02124;
-        double k = 0.0157892;
-        double n = 3.39375;
-
-        double dist = Math.sqrt(distance*distance+24*24);
-
-        return L + A * Math.exp(-Math.pow(k * dist, n));
-    }
-    public static double velPrediction(double distance) {
-
-        double x = Math.sqrt(distance*distance+24*24);
-
-
-
-        double A = -211149.992;
-        double B = -1.19943;
-        double C = 3720.15909;
-
-        return A * Math.pow(x, B) + C;
-    }
-
-}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/AprilTagWebcam.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/AprilTagWebcam.java
@@ -1,104 +0,0 @@
-package org.firstinspires.ftc.teamcode.utils;
-
-import android.util.Size;
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.firstinspires.ftc.vision.VisionPortal;
-import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
-import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
-
-import java.util.ArrayList;
-import java.util.List;
-
-public class AprilTagWebcam {
-
-    private AprilTagProcessor aprilTagProcessor;
-    private VisionPortal visionPortal;
-    private List<AprilTagDetection> detectedTags = new ArrayList<>();
-    private MultipleTelemetry telemetry;
-    public void init(Robot robot, MultipleTelemetry TELE){
-
-        this.telemetry = TELE;
-
-        aprilTagProcessor = new AprilTagProcessor.Builder()
-                .setDrawTagID(true)
-                .setDrawTagOutline(true)
-                .setDrawAxes(true)
-                .setDrawCubeProjection(true)
-                .setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
-                .build();
-
-        VisionPortal.Builder builder = new VisionPortal.Builder();
-        builder.setCamera(robot.webcam);
-        builder.setCameraResolution(new Size(640, 480));
-        builder.addProcessor(aprilTagProcessor);
-
-        visionPortal = builder.build();
-
-    }
-
-    public void update() {
-        detectedTags = aprilTagProcessor.getDetections();
-    }
-
-    public List<AprilTagDetection> getDetectedTags() {
-        return detectedTags;
-    }
-
-    public AprilTagDetection getTagById(int id){
-        for (AprilTagDetection detection : detectedTags) {
-            if (detection.id ==id){
-                return detection;
-            }
-        }
-        return null;
-    }
-
-    public void stop(){
-        if (visionPortal != null){
-            visionPortal.close();
-        }
-    }
-
-    //Helper Functions
-
-    public void displayDetectionTelemetry (AprilTagDetection detectedId){
-        if (detectedId ==null){return;}
-
-        if (detectedId.metadata != null) {
-            telemetry.addLine(String.format("\n==== (ID %d) %s", detectedId.id, detectedId.metadata.name));
-            telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detectedId.ftcPose.x, detectedId.ftcPose.y, detectedId.ftcPose.z));
-            telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detectedId.ftcPose.pitch, detectedId.ftcPose.roll, detectedId.ftcPose.yaw));
-            telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detectedId.ftcPose.range, detectedId.ftcPose.bearing, detectedId.ftcPose.elevation));
-        } else {
-            telemetry.addLine(String.format("\n==== (ID %d) Unknown", detectedId.id));
-            telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detectedId.center.x, detectedId.center.y));
-        }
-    }
-
-    public void displayAllTelemetry (){
-        if (detectedTags ==null){return;}
-
-        telemetry.addData("# AprilTags Detected", detectedTags.size());
-
-
-        for (AprilTagDetection detection : detectedTags) {
-            if (detection.metadata != null) {
-                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
-                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
-                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
-                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
-            } else {
-                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
-                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
-            }
-        }   // end for() loop
-    }
-
-
-
-
-}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java
@@ -5,17 +5,15 @@ import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
-
@Config
@TeleOp
 public class ConfigureColorRangefinder extends LinearOpMode {

+    public static int LED_Brightness = 50;

+    public static int lowerGreen = 110;

-    public static double lowerBound = 80;
-    public static double higherBound = 120;
-
-    public static int led = 0;
+    public static int higherGreen = 150;

    @Override
    public void runOpMode() throws InterruptedException {
@@ -24,11 +22,12 @@ public class ConfigureColorRangefinder extends LinearOpMode {
        /* Using this example configuration, you can detect both artifact colors based on which pin is reading true:
            pin0 --> purple
            pin1 --> green */
-        crf.setPin0Digital(ColorRangefinder.DigitalMode.DISTANCE, 3,  20);
-        crf.setPin1Digital(ColorRangefinder.DigitalMode.HSV, lowerBound, higherBound); // green
-        crf.setPin1DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 25); //25 mm or closer
-        crf.setLedBrightness(led);
+        crf.setPin1Digital(ColorRangefinder.DigitalMode.DISTANCE, 0, 40); // green
+        crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, higherGreen / 360.0 * 255, 360 / 360.0 * 255); // purple
+        crf.setPin0Digital(ColorRangefinder.DigitalMode.HSV, 0, lowerGreen/360.0 * 255);
+        crf.setPin0DigitalMaxDistance(ColorRangefinder.DigitalMode.HSV, 40); // 10mm or closer requirement

+        crf.setLedBrightness(LED_Brightness);
    }
 }

@@ -143,6 +142,7 @@ class ColorRangefinder {

    /**
     * Read distance via I2C
+     *
     * @return distance in millimeters
     */
    public double readDistance() {
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
@@ -4,13 +4,18 @@ import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorImplEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.DigitalChannel;
 import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.I2cDevice;
 import com.qualcomm.robotcore.hardware.Servo;

 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.vision.VisionPortal;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+import org.openftc.easyopencv.OpenCvWebcam;

 public class Robot {

@@ -105,8 +110,6 @@ public class Robot {

        shooter1.setDirection(DcMotorSimple.Direction.REVERSE);

-        shooterEncoder = shooter1;
-
        hood = hardwareMap.get(Servo.class, "hood");

        hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
Author	SHA1	Message	Date
DanTheMan-byte	d32033a015	here you go keshav	2025-11-30 16:42:45 -06:00
DanTheMan-byte	a869d4b7a0	pid is good, fix color	2025-11-29 18:14:03 -06:00
DanTheMan-byte	00966f98ba	transfer changes	2025-11-29 14:29:26 -06:00
KeshavAnandCode	88e1c428a5	Auto	2025-11-29 14:11:37 -06:00
DanTheMan-byte	4bbe5f218c	changes to PID	2025-11-28 19:21:54 -06:00
DanTheMan-byte	b0bc7b7b5b	changes to PID	2025-11-28 18:58:15 -06:00
DanTheMan-byte	46f1bd5191	changes to PID	2025-11-28 18:38:03 -06:00
DanTheMan-byte	087c629d08	changes to PID	2025-11-28 18:35:58 -06:00
DanTheMan-byte	c91828f899	changes in 11/28	2025-11-28 18:23:03 -06:00
DanTheMan-byte	84c9b08205	11/26 edits	2025-11-26 19:03:43 -06:00
DanTheMan-byte	d639530fa9	lot of stuff to test tomorrow	2025-11-25 22:58:51 -06:00
DanTheMan-byte	bfa8b52ebc	color sensor test	2025-11-25 21:39:17 -06:00
DanTheMan-byte	3b342d1656	color sensor progress	2025-11-24 19:16:17 -06:00
DanTheMan-byte	582ea86ac5	latest push	2025-11-24 17:56:14 -06:00
DanTheMan-byte	77b42acdda	encoder velocity finalized - adjusted color values	2025-11-20 21:11:06 -06:00
DanTheMan-byte	8d75b245e3	velocity math: to test	2025-11-18 22:47:58 -06:00
DanTheMan-byte	e5ba0947e3	test	2025-11-18 19:27:15 -06:00
DanTheMan-byte	f8222e292f	fly wheel by velocity	2025-11-16 20:20:13 -06:00
DanTheMan-byte	31b98cc8a1	fly wheel by velocity	2025-11-16 19:37:29 -06:00
DanTheMan-byte	b6c8ea1a28	fly wheel by velocity - in progress	2025-11-13 22:18:29 -06:00
DanTheMan-byte	5e41560fd5	moved in red again	2025-11-13 19:15:36 -06:00
DanTheMan-byte	8aa1954fbf	moved in ServoPositions	2025-11-13 19:13:47 -06:00
DanTheMan-byte	7246e648d9	moved in poses	2025-11-13 19:13:02 -06:00
DanTheMan-byte	dedc7e9b97	moved in blue	2025-11-13 19:12:02 -06:00
DanTheMan-byte	2e456f653d	moved in shooter	2025-11-13 19:11:01 -06:00
DanTheMan-byte	f08afd928a	goofy changes	2025-11-13 19:08:28 -06:00
DanTheMan-byte	0df3a68920	moved in Red	2025-11-11 20:58:20 -06:00
DanTheMan-byte	abe5d0899f	moved in transfer	2025-11-11 20:53:59 -06:00
DanTheMan-byte	7f968de6a8	moved in tele	2025-11-11 20:52:55 -06:00
DanTheMan-byte	331ec2fa0b	Merge remote-tracking branch 'origin/daniel' into daniel # Conflicts: # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Transfer.java # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/ConfigureColorRangefinder.java	2025-11-11 20:47:51 -06:00
DanTheMan-byte	deda28dd37	rejecter	2025-11-11 20:46:37 -06:00
DanTheMan-byte	9e3aadc8de	color test	2025-11-11 20:46:34 -06:00
DanTheMan-byte	37fa917b68	color test	2025-11-11 20:46:33 -06:00
DanTheMan-byte	40e415a967	teleop ground logic	2025-11-11 20:46:30 -06:00
DanTheMan-byte	b026a597b4	commit 1	2025-11-11 20:46:24 -06:00
DanTheMan-byte	0cdae76697	spindex class - 11/1	2025-11-11 20:46:19 -06:00
DanTheMan-byte	7e01e52f6d	as commit test	2025-11-11 20:46:15 -06:00
DanTheMan-byte	a7031232cf	intake coded	2025-11-11 20:46:08 -06:00
KeshavAnandCode	6ad7d46580	Ready Daniel???	2025-11-11 20:46:02 -06:00
DanTheMan-byte	ee2208922b	rejecter	2025-11-07 20:22:41 -06:00
DanTheMan-byte	03d72af8d2	color test	2025-11-06 22:27:02 -06:00
DanTheMan-byte	bb821d9108	color test	2025-11-06 19:21:56 -06:00
DanTheMan-byte	c517443459	teleop ground logic	2025-11-04 21:29:46 -06:00
DanTheMan-byte	34f2f4b593	commit 1	2025-11-04 20:28:17 -06:00
DanTheMan-byte	de096a925c	Merge branch 'master' into daniel # Conflicts: # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Intake.java # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java	2025-11-04 19:42:06 -06:00
DanTheMan-byte	96f4f1c639	spindex class - 11/1	2025-11-01 20:38:06 -05:00
DanTheMan-byte	77a68937f1	as commit test	2025-11-01 20:16:30 -05:00
DanTheMan-byte	a1b1cb99f6	as commit test	2025-11-01 17:38:30 -05:00
DanTheMan-byte	e7c18a671a	intake coded	2025-11-01 17:34:47 -05:00
KeshavAnandCode	0c81ca6a1a	Ready Daniel???	2025-11-01 16:56:39 -05:00