yayyyyy

Signed-off-by: KeshavAnandCode <keshavanandofficial@gmail.com>

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue_V2.java

@@ -0,0 +1,804 @@
+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.Action;
+import com.acmerobotics.roadrunner.ParallelAction;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@Autonomous
+public class Blue_V2 extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTagWebcam aprilTag;
+
+    Flywheel flywheel;
+
+    double velo = 0.0;
+    double targetVelocity = 0.0;
+    public static double intake1Time = 6.5;
+
+    public static double intake2Time = 6.5;
+
+    public static double colorDetect = 3.0;
+
+    boolean gpp = false;
+
+    boolean pgp = false;
+
+    boolean ppg = false;
+
+    double powPID = 0.0;
+
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+
+    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    boolean spindexPosEqual(double spindexer) {
+        TELE.addData("Velocity", velo);
+        TELE.addLine("spindex equal");
+        TELE.update();
+        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
+                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
+    }
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            double initPos = 0.0;
+            double stamp = 0.0;
+            double stamp1 = 0.0;
+            double ticker = 0.0;
+            double stamp2 = 0.0;
+            double currentPos = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp2 = getRuntime();
+                }
+
+                targetVelocity = (double) vel;
+                ticker++;
+                if (ticker % 16 == 0) {
+                    stamp = getRuntime();
+                    stamp1 = stamp;
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
+                    steady = true;
+                    stamp2 = getRuntime();
+                    return true;
+                } else if (steady && getRuntime() - stamp2 > 1.5){
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("finished init");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action steadyShooter(int vel, boolean last) {
+        return new Action() {
+            double stamp = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                steady = flywheel.getSteady();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+
+                if (last && !steady){
+                    stamp = getRuntime();
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
+                    return false;
+                } else if (steady) {
+                    stamp = getRuntime();
+                    return true;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            double stamp = getRuntime();
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (aprilTag.getTagById(21) != null) {
+                    gpp = true;
+                } else if (aprilTag.getTagById(22) != null) {
+                    pgp = true;
+                } else if (aprilTag.getTagById(23) != null) {
+                    ppg = true;
+                }
+                aprilTag.update();
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg){
+                    robot.turr1.setPosition(turret_blue);
+                    robot.turr2.setPosition(1 - turret_blue);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex (double spindexer, double vel){
+        return new Action() {
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                ticker++;
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - velo;
+                    double correction = kP * error;
+
+                    // limit how fast power changes (prevents oscillation)
+                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+                    // --- FINAL MOTOR POWER ---
+                    powPID = feed + correction;
+
+                    // clamp to allowed range
+                    powPID = Math.max(0, Math.min(1, powPID));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.spin1.setPosition(spindexer);
+                robot.spin2.setPosition(1-spindexer);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                return !spindexPosEqual(spindexer);
+            }
+        };
+    }
+
+    public Action Shoot(double vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - velo;
+                    double correction = kP * error;
+
+                    // limit how fast power changes (prevents oscillation)
+                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+                    // --- FINAL MOTOR POWER ---
+                    powPID = feed + correction;
+
+                    // clamp to allowed range
+                    powPID = Math.max(0, Math.min(1, powPID));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                    robot.transferServo.setPosition(transferServo_out);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = 0.0;
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1 - position);
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                    robot.intake.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            double position = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1 - position);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 40) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 40) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 30) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        flywheel = new Flywheel();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        aprilTag = new AprilTagWebcam();
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+                .strafeToLinearHeading(new Vector2d(bx2a, by2a), bh2a)
+                .strafeToLinearHeading(new Vector2d(bx2b, by2b), bh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(bx2b, by2b, bh2b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(bx1, by1, bh1))
+
+                .strafeToLinearHeading(new Vector2d(bx3a, by3a), bh3a)
+
+                .strafeToLinearHeading(new Vector2d(bx3b, by3b), bh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(bx3b, by3b, bh3b))
+                .strafeToLinearHeading(new Vector2d(bx1, by1), bh1);
+
+        aprilTag.init(robot, TELE);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto-= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.turr1.setPosition(turret_detectBlue);
+            robot.turr2.setPosition(1 - turret_detectBlue);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            robot.spin1.setPosition(spindexer_intakePos1);
+            robot.spin2.setPosition(1 - spindexer_intakePos1);
+
+            aprilTag.update();
+            TELE.addData("Velocity", velo);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.hood.setPosition(hoodAuto);
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true)
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true)
+                    )
+            );
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+}

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

@@ -0,0 +1,804 @@
+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.SequentialAction;
+import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.Vector2d;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+@Autonomous
+public class Red_V2 extends LinearOpMode {
+
+    Robot robot;
+
+    MultipleTelemetry TELE;
+
+    MecanumDrive drive;
+
+    AprilTagWebcam aprilTag;
+
+    Flywheel flywheel;
+
+    double velo = 0.0;
+    double targetVelocity = 0.0;
+    public static double intake1Time = 6.5;
+
+    public static double intake2Time = 6.5;
+
+    public static double colorDetect = 3.0;
+
+    boolean gpp = false;
+
+    boolean pgp = false;
+
+    boolean ppg = false;
+
+    double powPID = 0.0;
+
+    int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
+
+    int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
+
+    boolean spindexPosEqual(double spindexer) {
+        TELE.addData("Velocity", velo);
+        TELE.addLine("spindex equal");
+        TELE.update();
+        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
+                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
+    }
+
+    public Action initShooter(int vel) {
+        return new Action() {
+            double initPos = 0.0;
+            double stamp = 0.0;
+            double stamp1 = 0.0;
+            double ticker = 0.0;
+            double stamp2 = 0.0;
+            double currentPos = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp2 = getRuntime();
+                }
+
+                targetVelocity = (double) vel;
+                ticker++;
+                if (ticker % 16 == 0) {
+                    stamp = getRuntime();
+                    stamp1 = stamp;
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+                if (vel < velo && getRuntime() - stamp2 > 3.0 && !steady){
+                    steady = true;
+                    stamp2 = getRuntime();
+                    return true;
+                } else if (steady && getRuntime() - stamp2 > 1.5){
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("finished init");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action steadyShooter(int vel, boolean last) {
+        return new Action() {
+            double stamp = 0.0;
+            boolean steady = false;
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                steady = flywheel.getSteady();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.transfer.setPower(1);
+
+                TELE.addData("Velocity", velo);
+                TELE.update();
+
+
+                if (last && !steady){
+                    stamp = getRuntime();
+                    drive.updatePoseEstimate();
+
+                    teleStart = drive.localizer.getPose();
+                    return false;
+                } else if (steady) {
+                    stamp = getRuntime();
+                    return true;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action Obelisk() {
+        return new Action() {
+            double stamp = getRuntime();
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if (aprilTag.getTagById(21) != null) {
+                    gpp = true;
+                } else if (aprilTag.getTagById(22) != null) {
+                    pgp = true;
+                } else if (aprilTag.getTagById(23) != null) {
+                    ppg = true;
+                }
+                aprilTag.update();
+
+                TELE.addData("Velocity", velo);
+                TELE.addData("21", gpp);
+                TELE.addData("22", pgp);
+                TELE.addData("23", ppg);
+                TELE.update();
+
+                if (gpp || pgp || ppg){
+                    robot.turr1.setPosition(turret_red);
+                    robot.turr2.setPosition(1 - turret_red);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action spindex (double spindexer, double vel){
+        return new Action() {
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            int ticker = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                ticker++;
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - velo;
+                    double correction = kP * error;
+
+                    // limit how fast power changes (prevents oscillation)
+                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+                    // --- FINAL MOTOR POWER ---
+                    powPID = feed + correction;
+
+                    // clamp to allowed range
+                    powPID = Math.max(0, Math.min(1, powPID));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+                robot.spin1.setPosition(spindexer);
+                robot.spin2.setPosition(1-spindexer);
+                TELE.addData("Velocity", velo);
+                TELE.addLine("spindex");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                return !spindexPosEqual(spindexer);
+            }
+        };
+    }
+
+    public Action Shoot(double vel) {
+        return new Action() {
+            double transferStamp = 0.0;
+            int ticker = 1;
+            boolean transferIn = false;
+            double currentPos = 0.0;
+            double stamp = 0.0;
+            double initPos = 0.0;
+            double stamp1 = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                TELE.addData("Velocity", velo);
+                TELE.addLine("shooting");
+                TELE.update();
+
+                if (ticker % 8 == 0) {
+                    currentPos = (double) robot.shooter1.getCurrentPosition() / 2048;
+                    stamp = getRuntime();
+                    velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+                    initPos = currentPos;
+                    stamp1 = stamp;
+                }
+
+                if (vel - velo > 500 && ticker > 16) {
+                    powPID = 1.0;
+                } else if (velo - vel > 500 && ticker > 16){
+                    powPID = 0.0;
+                } else if (Math.abs(vel - velo) < 100 && ticker > 16){
+                    double feed = Math.log((668.39 / (vel + 591.96)) - 0.116) / -4.18;
+
+                    // --- PROPORTIONAL CORRECTION ---
+                    double error = vel - velo;
+                    double correction = kP * error;
+
+                    // limit how fast power changes (prevents oscillation)
+                    correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+                    // --- FINAL MOTOR POWER ---
+                    powPID = feed + correction;
+
+                    // clamp to allowed range
+                    powPID = Math.max(0, Math.min(1, powPID));
+                }
+
+                powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+                velo = flywheel.getVelo();
+                robot.shooter1.setPower(powPID);
+                robot.shooter2.setPower(powPID);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+
+                if (ticker == 1) {
+                    transferStamp = getRuntime();
+                    ticker++;
+                }
+                if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                    robot.transferServo.setPosition(transferServo_in);
+                    TELE.addData("Velocity", velo);
+                    TELE.addData("ticker", ticker);
+                    TELE.update();
+                    transferIn = true;
+                    return true;
+                } else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
+                    robot.transferServo.setPosition(transferServo_out);
+                    TELE.addData("Velocity", velo);
+                    TELE.addLine("shot once");
+                    TELE.update();
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action intake(double intakeTime) {
+        return new Action() {
+            double position = 0.0;
+            double stamp = 0.0;
+            int ticker = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1 - position);
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Intaking");
+                TELE.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                robot.intake.setPower(1);
+                if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
+                    robot.intake.setPower(0);
+                    return false;
+                } else {
+                    return true;
+                }
+            }
+        };
+    }
+
+    public Action ColorDetect() {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            double position = 0.0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = getRuntime();
+                }
+                ticker++;
+
+                if ((getRuntime() % 0.3) > 0.15) {
+                    position = spindexer_intakePos1 + 0.02;
+                } else {
+                    position = spindexer_intakePos1 - 0.02;
+                }
+                robot.spin1.setPosition(position);
+                robot.spin2.setPosition(1 - position);
+
+                double s1D = robot.color1.getDistance(DistanceUnit.MM);
+                double s2D = robot.color2.getDistance(DistanceUnit.MM);
+                double s3D = robot.color3.getDistance(DistanceUnit.MM);
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                if (s1D < 40) {
+
+                    double green = robot.color1.getNormalizedColors().green;
+                    double red = robot.color1.getNormalizedColors().red;
+                    double blue = robot.color1.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+
+
+                    if (gP >= 0.4) {
+                        b1 = 2;
+                    } else {
+                        b1 = 1;
+                    }
+                }
+
+                if (s2D < 40) {
+
+                    double green = robot.color2.getNormalizedColors().green;
+                    double red = robot.color2.getNormalizedColors().red;
+                    double blue = robot.color2.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b2 = 2;
+                    } else {
+                        b2 = 1;
+                    }
+                }
+
+                if (s3D < 30) {
+
+                    double green = robot.color3.getNormalizedColors().green;
+                    double red = robot.color3.getNormalizedColors().red;
+                    double blue = robot.color3.getNormalizedColors().blue;
+
+                    double gP = green / (green + red + blue);
+
+                    if (gP >= 0.4) {
+                        b3 = 2;
+                    } else {
+                        b3 = 1;
+                    }
+                }
+
+                TELE.addData("Velocity", velo);
+                TELE.addLine("Detecting");
+                TELE.addData("Distance 1", s1D);
+                TELE.addData("Distance 2", s2D);
+                TELE.addData("Distance 3", s3D);
+                TELE.addData("B1", b1);
+                TELE.addData("B2", b2);
+                TELE.addData("B3", b3);
+                TELE.update();
+
+                return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
+            }
+        };
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        robot = new Robot(hardwareMap);
+
+        flywheel = new Flywheel();
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(
+                0, 0, 0
+        ));
+
+        aprilTag = new AprilTagWebcam();
+
+        TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+                .strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
+                .strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
+
+        TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
+
+                .strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
+
+                .strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
+
+        TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
+                .strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
+
+        aprilTag.init(robot, TELE);
+
+        while (opModeInInit()) {
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodAuto-= 0.01;
+            }
+
+            if (gamepad2.dpadDownWasPressed()) {
+                hoodAuto += 0.01;
+            }
+
+            robot.hood.setPosition(hoodAuto);
+
+            robot.turr1.setPosition(turret_detectRed);
+            robot.turr2.setPosition(1 - turret_detectRed);
+
+            robot.transferServo.setPosition(transferServo_out);
+
+            robot.spin1.setPosition(spindexer_intakePos1);
+            robot.spin2.setPosition(1 - spindexer_intakePos1);
+
+            aprilTag.update();
+            TELE.addData("Velocity", velo);
+            TELE.update();
+        }
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()) {
+
+            robot.hood.setPosition(hoodAuto);
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot0.build(),
+                            initShooter(AUTO_CLOSE_VEL),
+                            Obelisk()
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            robot.hood.setPosition(hoodAuto);
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup1.build(),
+                            intake(intake1Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot1.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true)
+                    )
+            );
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            pickup2.build(),
+                            intake(intake2Time)
+                    )
+            );
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            Actions.runBlocking(
+                    new ParallelAction(
+                            shoot2.build(),
+                            ColorDetect(),
+                            steadyShooter(AUTO_CLOSE_VEL, true)
+                    )
+            );
+
+            powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, (double) robot.shooter1.getCurrentPosition());
+            velo = flywheel.getVelo();
+            robot.shooter1.setPower(powPID);
+            robot.shooter2.setPower(powPID);
+
+            shootingSequence();
+
+            drive.updatePoseEstimate();
+
+            teleStart = drive.localizer.getPose();
+
+            TELE.addData("Velocity", velo);
+            TELE.addLine("finished");
+            TELE.update();
+
+            sleep(2000);
+
+        }
+
+    }
+
+    public void shootingSequence() {
+        TELE.addData("Velocity", velo);
+        if (gpp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b2 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b3 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                }
+            } else {
+                sequence1();
+                TELE.addLine("sequence1");
+            }
+        } else if (pgp) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence3();
+                    TELE.addLine("sequence3");
+                } else if (b2 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else if (b3 == 2) {
+                    sequence4();
+                    TELE.addLine("sequence4");
+                }
+            } else {
+                sequence3();
+                TELE.addLine("sequence3");
+            }
+        } else if (ppg) {
+            if (b1 + b2 + b3 == 4) {
+                if (b1 == 2 && b2 - b3 == 0) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2 && b1 - b3 == 0) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2 && b1 - b2 == 0) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                } else {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else if (b1 + b2 + b3 >= 5) {
+                if (b1 == 2) {
+                    sequence6();
+                    TELE.addLine("sequence6");
+                } else if (b2 == 2) {
+                    sequence5();
+                    TELE.addLine("sequence5");
+                } else if (b3 == 2) {
+                    sequence1();
+                    TELE.addLine("sequence1");
+                }
+            } else {
+                sequence6();
+                TELE.addLine("sequence6");
+            }
+        } else {
+            sequence1();
+            TELE.addLine("sequence1");
+        }
+        TELE.update();
+    }
+
+    public void sequence1() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence2() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence3() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence4() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence5() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+
+    public void sequence6() {
+        Actions.runBlocking(
+                new SequentialAction(
+                        spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL),
+                        spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
+                        Shoot(AUTO_CLOSE_VEL)
+                )
+        );
+    }
+}

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

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

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

@@ -0,0 +1,51 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.Pose2d;
+
+@Config
+public class Poses {
+
+    public static double goalHeight = 42; //in inches
+
+    public static double turretHeight = 12;
+
+    public static double relativeGoalHeight = goalHeight - turretHeight;
+
+    public static double x1 = 50, y1 = 0, h1 = 0;
+
+    public static double x2 = 31, y2 = 32, h2 = Math.toRadians(140);
+
+    public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
+
+    public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
+
+    public static double tx = 0, ty = 0, th = 0;
+
+    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
+
+
+
+    public static double rx1 = 46, ry1 = -4, rh1 = 0;
+
+    public static double rx2a = 45, ry2a = 5, rh2a = Math.toRadians(140);
+
+    public static double rx2b = 31, ry2b = 32, rh2b = Math.toRadians(140);
+
+    public static double rx3a = 58, ry3a = 42, rh3a = Math.toRadians(140);
+
+    public static double rx3b = 34, ry3b = 58, rh3b = Math.toRadians(140);
+
+    public static double bx1 = 46, by1 = 4, bh1 = 0;
+
+    public static double bx2a = 45, by2a = -5, bh2a = Math.toRadians(-140);
+
+    public static double bx2b = 31, by2b = -32, bh2b = Math.toRadians(-140);
+
+    public static double bx3a = 58, by3a = -42, bh3a = Math.toRadians(-140);
+
+    public static double bx3b = 34, by3b = -58, bh3b = Math.toRadians(-140);
+
+    public static Pose2d teleStart = new Pose2d(rx1, 10, 0);
+
+}

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

@@ -0,0 +1,41 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ServoPositions {
+
+    public static double spindexer_intakePos1 = 0.665;
+
+    public static double spindexer_intakePos3 = 0.29;
+
+    public static double spindexer_intakePos2 = 0.99;
+
+    public static double spindexer_outtakeBall3 = 0.845;
+
+    public static double spindexer_outtakeBall2 = 0.48;
+    public static double spindexer_outtakeBall1 = 0.1;
+
+    public static double transferServo_out = 0.15;
+
+    public static double transferServo_in = 0.38;
+
+    public static double turret_range = 0.9;
+
+    public static double hoodDefault = 0.6;
+
+    public static double hoodAuto = 0.59;
+
+    public static double hoodHigh = 0.21;
+
+    public static double hoodLow = 1.0;
+
+    public static double turret_red = 0.4;
+    public static double turret_blue = 0.38;
+
+    public static double turret_detectRed = 0.2;
+
+    public static double turret_detectBlue = 0.6;
+    public static double turrDefault = 0.40;
+
+}

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

@@ -0,0 +1,23 @@
+package org.firstinspires.ftc.teamcode.constants;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class ShooterVars {
+    public static double turret_GearRatio = 0.9974;
+
+    public static double turret_Range = 355;
+
+    public static int velTolerance = 300;
+
+    public static int initTolerance = 1000;
+
+    public static int maxVel = 4500;
+    public static double waitTransferOut = 0.3;
+    public static double waitTransfer = 0.4;
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
+
+    // VELOCITY CONSTANTS
+    public static int AUTO_CLOSE_VEL = 3025; //3300;
+}

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

@@ -1,89 +0,0 @@
-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 org.firstinspires.ftc.teamcode.utils.Robot;
-
-import java.util.Objects;
-
-public class Drivetrain {
-
-    private final GamepadEx gamepad;
-    private final DcMotorEx fl;
-    private final DcMotorEx fr;
-    private final DcMotorEx bl;
-    private final DcMotorEx br;
-    public MultipleTelemetry TELE;
-    private String Mode = "Default";
-    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);
-
-    }
-
-    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
-                    )
-            );
-        }
-
-    }
-}

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

@@ -1,25 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystems;
-
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
-
-public class Robot {
-
-    public DcMotorEx shooter1;
-    public DcMotorEx shooter2;
-    public WebcamName webcamName;
-
-    public Robot(HardwareMap hardwareMap) {
-
-        webcamName = hardwareMap.get(WebcamName.class, "Webcam 1");
-        shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
-        shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
-
-        shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
-
-    }
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java

@@ -0,0 +1,949 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+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.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.turrDefault;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransfer;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.waitTransferOut;
+import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
+import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
+import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.restPos;
+import static org.firstinspires.ftc.teamcode.utils.PositionalServoProgrammer.scalar;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@TeleOp
+@Config
+public class TeleopV2 extends LinearOpMode {
+
+    public static double manualVel = 3000;
+    public static double hood = 0.5;
+    public static double hoodDefaultPos = 0.5;
+    public static double desiredTurretAngle = 180;
+    public static double velMultiplier = 20;
+    public static double shootStamp2 = 0.0;
+
+
+    public double vel = 3000;
+    public boolean autoVel = true;
+    public double manualOffset = 0.0;
+    public boolean autoHood = true;
+    public boolean green1 = false;
+    public boolean green2 = false;
+    public boolean green3 = false;
+    public double shootStamp = 0.0;
+    public boolean circle = false;
+    public boolean square = false;
+    public boolean triangle = false;
+    double autoHoodOffset = 0.0;
+    Robot robot;
+    MultipleTelemetry TELE;
+    boolean intake = false;
+    boolean reject = false;
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+    double headingOffset = 0.0;
+    int ticker = 0;
+    List<Double> s1G = new ArrayList<>();
+    List<Double> s2G = new ArrayList<>();
+    List<Double> s3G = new ArrayList<>();
+    List<Double> s1T = new ArrayList<>();
+    List<Double> s2T = new ArrayList<>();
+    List<Double> s3T = new ArrayList<>();
+    List<Boolean> s1 = new ArrayList<>();
+    List<Boolean> s2 = new ArrayList<>();
+    List<Boolean> s3 = new ArrayList<>();
+    boolean oddBallColor = false;
+    AprilTagWebcam aprilTagWebcam = new AprilTagWebcam();
+    MecanumDrive drive;
+    double hoodOffset = 0.0;
+    boolean shoot1 = false;
+    // Make these class-level flags
+    boolean shootA = true;
+    boolean shootB = true;
+    boolean shootC = true;
+    boolean manualTurret = false;
+
+    boolean outtake1 = false;
+    boolean outtake2 = false;
+    boolean outtake3 = false;
+    boolean overrideTurr = false;
+
+
+    List<Integer> shootOrder = new ArrayList<>();
+    boolean emergency = false;
+    private double lastEncoderRevolutions = 0.0;
+    private double lastTimeStamp = 0.0;
+    private double velo1, velo;
+    private double stamp1, stamp, initPos;
+    private boolean shootAll = false;
+    private double transferStamp = 0.0;
+    private int tickerA = 1;
+    private boolean transferIn = false;
+
+    public static double velPrediction(double distance) {
+
+        if (distance < 30) {
+            return 2750;
+        } else if (distance > 100) {
+            if (distance > 160) {
+                return 4200;
+            }
+            return 3700;
+        } else {
+            // linear interpolation between 40->2650 and 120->3600
+            double slope = (3700.0 - 2750.0) / (100.0 - 30);
+            return (int) Math.round(2750 + slope * (distance - 30));
+        }
+
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        drive = new MecanumDrive(hardwareMap, teleStart);
+
+        Pose2d shootPos = teleStart;
+
+        aprilTagWebcam.init(new Robot(hardwareMap), TELE);
+
+        robot.turr1.setPosition(0.4);
+        robot.turr2.setPosition(1 - 0.4);
+
+        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 = !intake;
+                reject = false;
+                shootAll = false;
+                emergency = false;
+                overrideTurr = false;
+
+
+            }
+
+            if (gamepad1.leftBumperWasPressed()) {
+                intake = false;
+                reject = true;
+                shootAll = false;
+                overrideTurr = 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());
+            }
+
+            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);
+
+            //TURRET:
+
+            double offset;
+
+            double robotX = drive.localizer.getPose().position.x - xOffset;
+            double robotY = drive.localizer.getPose().position.y - xOffset;
+            double robotHeading = drive.localizer.getPose().heading.toDouble();
+
+            double goalX = -10;
+            double goalY = 0;
+
+            double dx = goalX - robotX;  // delta x from robot to goal
+            double dy = goalY - robotY;  // delta y from robot to goal
+
+            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
+
+            desiredTurretAngle += manualOffset;
+
+            offset = desiredTurretAngle - 180 - (Math.toDegrees(robotHeading - headingOffset));
+
+            if (offset > 135) {
+                offset -= 360;
+            }
+
+            double pos = turrDefault;
+
+            TELE.addData("offset", offset);
+
+            pos -= offset * (0.9 / 360);
+
+            if (pos < 0.02) {
+                pos = 0.02;
+            } else if (pos > 0.97) {
+                pos = 0.97;
+            }
+
+            if (manualTurret) {
+                pos = turrDefault + (manualOffset / 100);
+            }
+
+            if (!overrideTurr) {
+
+                robot.turr1.setPosition(pos);
+                robot.turr2.setPosition(1 - pos);
+            }
+
+            if (gamepad2.dpad_right) {
+                manualOffset -= 2;
+            } else if (gamepad2.dpad_left) {
+                manualOffset += 2;
+            }
+
+            //VELOCITY AUTOMATIC
+
+            if (autoVel) {
+                vel = velPrediction(distanceToGoal);
+            } else {
+                vel = manualVel;
+            }
+
+            if (gamepad2.right_stick_button) {
+                autoVel = true;
+            } else if (gamepad2.right_stick_y < -0.5) {
+                autoVel = false;
+                manualVel = 4100;
+            } else if (gamepad2.right_stick_y > 0.5) {
+                autoVel = false;
+                manualVel = 2700;
+            } else if (gamepad2.right_stick_x > 0.5) {
+                autoVel = false;
+                manualVel = 3600;
+            } else if (gamepad2.right_stick_x < -0.5) {
+                autoVel = false;
+                manualVel = 3100;
+            }
+
+            //HOOD:
+
+            if (autoHood) {
+                robot.hood.setPosition(hoodAnglePrediction(distanceToGoal) + autoHoodOffset);
+            } else {
+                robot.hood.setPosition(hoodDefaultPos + hoodOffset);
+            }
+
+            if (gamepad2.dpadUpWasPressed()) {
+                hoodOffset -= 0.03;
+                autoHoodOffset -= 0.02;
+
+            } else if (gamepad2.dpadDownWasPressed()) {
+                hoodOffset += 0.03;
+                autoHoodOffset += 0.02;
+
+            }
+
+            if (gamepad2.left_stick_x > 0.5) {
+                manualTurret = false;
+            } else if (gamepad2.left_stick_x < -0.5) {
+                manualTurret = true;
+                manualOffset = 0;
+                autoHoodOffset = 0;
+                if (gamepad2.left_bumper) {
+                    xOffset = robotX;
+                    yOffset = robotY;
+                    headingOffset = robotHeading;
+                }
+            }
+
+            if (gamepad2.left_stick_y < -0.5) {
+                autoHood = true;
+            } else if (gamepad2.left_stick_y > 0.5) {
+                autoHood = false;
+                hoodOffset = 0;
+                if (gamepad2.left_bumper) {
+                    xOffset = robotX;
+                    yOffset = robotY;
+                    headingOffset = robotHeading;
+                }
+            }
+
+            //SHOOT ALL:]
+
+            if (emergency) {
+                intake = false;
+                reject = false;
+
+                if (getRuntime() % 3 > 1.5) {
+                    robot.spin1.setPosition(0);
+                    robot.spin2.setPosition(1);
+                } else {
+
+                    robot.spin1.setPosition(1);
+                    robot.spin2.setPosition(0);
+                }
+
+                if (getRuntime() % 1 < 0.5) {
+                    robot.transferServo.setPosition(transferServo_in);
+                } else {
+                    robot.transferServo.setPosition(transferServo_out);
+
+                }
+
+                robot.transfer.setPower(1);
+
+            } else if (shootAll) {
+
+                TELE.addData("100% works", shootOrder);
+
+                intake = false;
+                reject = false;
+
+                if (!shootOrder.isEmpty() && (getRuntime() - shootStamp < 12)) {
+                    int currentSlot = shootOrder.get(0); // Peek, do NOT remove yet
+                    boolean shootingDone = false;
+
+                    AprilTagDetection d20 = aprilTagWebcam.getTagById(20);
+                    AprilTagDetection d24 = aprilTagWebcam.getTagById(24);
+
+                    if (d20 != null) {
+                        overrideTurr = true;
+                        double bearing = d20.ftcPose.bearing;
+                        double finalPos =robot.turr1.getPosition() -  (bearing/1300);
+                        robot.turr1.setPosition(finalPos);
+                        robot.turr2.setPosition(1-finalPos);
+
+                        TELE.addData("Bear", bearing);
+
+
+
+
+
+                    }
+
+                    if (d24 != null) {
+                        overrideTurr = true;
+
+                        double bearing = d24.ftcPose.bearing;
+                        double finalPos = turretPos() +  (bearing/720);
+                        robot.turr1.setPosition(finalPos);
+                        robot.turr2.setPosition(1-finalPos);
+
+                    }
+
+                    if (!outtake1) {
+                        outtake1 = (spindexPosEqual(spindexer_outtakeBall1));
+                    }
+                    if (!outtake2) {
+                        outtake2 = (spindexPosEqual(spindexer_outtakeBall2));
+                    }
+                    if (!outtake3) {
+                        outtake3 = (spindexPosEqual(spindexer_outtakeBall3));
+                    }
+
+                    switch (currentSlot) {
+                        case 1:
+                            shootA = shootTeleop(spindexer_outtakeBall1, outtake1, shootStamp2);
+                            TELE.addData("shootA", shootA);
+
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootA;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 2:
+                            shootB = shootTeleop(spindexer_outtakeBall2, outtake2, shootStamp2);
+                            TELE.addData("shootB", shootB);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootB;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                        case 3:
+                            shootC = shootTeleop(spindexer_outtakeBall3, outtake3, shootStamp2);
+                            TELE.addData("shootC", shootC);
+                            if ((getRuntime() - shootStamp) < 4 * (4 - shootOrder.size())) {
+                                shootingDone = !shootC;
+                            } else {
+                                shootingDone = true;
+                            }
+                            break;
+                    }
+
+                    // Remove from the list only if shooting is complete
+                    if (shootingDone) {
+                        shootOrder.remove(0);
+                        shootStamp2 = getRuntime();
+
+                    }
+
+                } else {
+                    // Finished shooting all balls
+                    robot.spin1.setPosition(spindexer_intakePos1);
+                    robot.spin2.setPosition(1 - spindexer_intakePos1);
+                    shootA = true;
+                    shootB = true;
+                    shootC = true;
+                    reject = false;
+                    intake = true;
+                    shootAll = false;
+                    outtake1 = false;
+                    outtake2 = false;
+                    outtake3 = false;
+                    overrideTurr = false;
+
+
+
+                }
+
+            }
+
+            if (gamepad2.squareWasPressed()) {
+                square = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+            }
+
+            if (gamepad2.circleWasPressed()) {
+                circle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (gamepad2.triangleWasPressed()) {
+                triangle = true;
+                shootStamp = getRuntime();
+                shootStamp2 = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+            }
+
+            if (square || circle || triangle) {
+
+                // Count green balls
+                int greenCount = 0;
+                if (green1) greenCount++;
+                if (green2) greenCount++;
+                if (green3) greenCount++;
+
+                // Determine the odd ball color
+                oddBallColor = greenCount < 2; // true = green, false = purple
+
+                shootOrder.clear();
+
+                // Determine shooting order based on button pressed
+                // square = odd ball first, triangle = odd ball second, circle = odd ball third
+                if (square) {
+                    // Odd ball first
+                    addOddThenRest(shootOrder, oddBallColor);
+
+                } else if (triangle) {
+                    // Odd ball second
+                    addOddInMiddle(shootOrder, oddBallColor);
+                } else if (circle) {
+                    // Odd ball last
+                    addOddLast(shootOrder, oddBallColor);
+                }
+
+                circle = false;
+                square = false;
+                triangle = false;
+
+            }
+
+            // Right bumper shoots all balls fastest, ignoring colors
+            if (gamepad2.rightBumperWasPressed()) {
+                shootOrder.clear();
+                shootStamp = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+                // Fastest order (example: slot 3 → 2 → 1)
+
+                if (ballIn(3)){
+                    shootOrder.add(3);
+
+                }
+
+                if (ballIn(2)){
+                    shootOrder.add(2);
+
+                }
+
+                if (ballIn(1)){
+                    shootOrder.add(1);
+
+                }
+
+                if (!shootOrder.contains(3)) {
+
+                    shootOrder.add(3);
+                }
+
+                if (!shootOrder.contains(2)) {
+
+                    shootOrder.add(2);
+                }
+
+                if (!shootOrder.contains(1)) {
+
+                    shootOrder.add(1);
+                }
+
+
+                shootAll = true;
+                shootPos = drive.localizer.getPose();
+
+            }
+
+            // Right bumper shoots all balls fastest, ignoring colors
+            if (gamepad2.leftBumperWasPressed()) {
+                shootOrder.clear();
+                shootStamp = getRuntime();
+
+                outtake1 = false;
+                outtake2 = false;
+                outtake3 = false;
+
+                // Fastest order (example: slot 3 → 2 → 1)
+
+                if (ballIn(3)) {
+                    shootOrder.add(3);
+                }
+
+                if (ballIn(2)) {
+                    shootOrder.add(2);
+                }
+                if (ballIn(1)) {
+                    shootOrder.add(1);
+                }
+                shootAll = true;
+                shootPos = drive.localizer.getPose();
+
+            }
+
+            if (gamepad2.crossWasPressed()) {
+                emergency = !emergency;
+
+            }
+
+            //MISC:
+
+            drive.updatePoseEstimate();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+
+            TELE.addData("Spin1Green", green1 + ": " + ballIn(1));
+            TELE.addData("Spin2Green", green2 + ": " + ballIn(2));
+            TELE.addData("Spin3Green", green3 + ": " + ballIn(3));
+
+            TELE.addData("pose", drive.localizer.getPose());
+            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+            TELE.addData("distanceToGoal", distanceToGoal);
+            TELE.addData("hood", robot.hood.getPosition());
+            TELE.addData("targetVel", vel);
+
+            TELE.addData("shootOrder", shootOrder);
+            TELE.addData("oddColor", oddBallColor);
+
+            aprilTagWebcam.update();
+
+            TELE.update();
+
+            ticker++;
+
+        }
+    }
+
+    // Helper method
+    private boolean checkGreen(List<Boolean> s, List<Double> sT) {
+        if (s.isEmpty()) return false;
+
+        double lastTime = sT.get(sT.size() - 1);
+        int countTrue = 0;
+        int countWindow = 0;
+
+        for (int i = 0; i < s.size(); i++) {
+            if (lastTime - sT.get(i) <= 3.0) {  // element is within 2s of last
+                countWindow++;
+                if (s.get(i)) {
+                    countTrue++;
+                }
+            }
+        }
+
+        if (countWindow == 0) return false; // avoid divide by zero
+        return countTrue > countWindow / 2.0; // more than 50% true
+    }
+
+    boolean spindexPosEqual(double spindexer) {
+        return (scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) > spindexer - 0.01 &&
+                scalar * ((robot.spin1Pos.getVoltage() - restPos) / 3.3) < spindexer + 0.01);
+    }
+
+    public boolean shootTeleop(double spindexer, boolean spinOk, double stamp) {
+        // Set spin positions
+        robot.spin1.setPosition(spindexer);
+        robot.spin2.setPosition(1 - spindexer);
+
+        // Check if spindexer has reached the target position
+        if (spinOk || getRuntime() - stamp > 1.5) {
+            if (tickerA == 1) {
+                transferStamp = getRuntime();
+                tickerA++;
+                TELE.addLine("tickerSet");
+            }
+
+            if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
+                robot.transferServo.setPosition(transferServo_in);
+                transferIn = true;
+                TELE.addLine("transferring");
+
+                return true; // still in progress
+
+            } else if (getRuntime() - transferStamp > waitTransfer + waitTransferOut && transferIn) {
+                robot.transferServo.setPosition(transferServo_out);
+                transferIn = false; // reset for next shot
+                tickerA = 1;        // reset ticker
+                transferStamp = 0.0;
+
+                TELE.addLine("shotFinished");
+
+                return false;       // finished shooting
+            } else {
+                TELE.addLine("sIP");
+                return true; // still in progress
+            }
+        } else {
+            robot.transferServo.setPosition(transferServo_out);
+            tickerA = 1;
+            transferStamp = getRuntime();
+            transferIn = false;
+            return true; // still moving spin
+        }
+    }
+
+    public double hoodAnglePrediction(double x) {
+        if (x < 34) {
+            double L = 1.04471;
+            double U = 0.711929;
+            double Q = 120.02263;
+            double B = 0.780982;
+            double M = 20.61191;
+            double v = 10.40506;
+
+            double inner = 1 + Q * Math.exp(-B * (x - M));
+            return L + (U - L) / Math.pow(inner, 1.0 / v);
+
+        } else {
+            // x >= 34
+            return 1.94372 * Math.exp(-0.0528731 * x) + 0.39;
+        }
+    }
+
+    void addOddThenRest(List<Integer> order, boolean oddColor) {
+        // Odd ball first
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddInMiddle(List<Integer> order, boolean oddColor) {
+
+        boolean[] used = new boolean[4];   // index 1..3
+
+        // 1) Add a NON-odd ball first
+        for (int i = 1; i <= 3; i++) {
+            if (getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 2) Add the odd ball second
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) == oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        // 3) Add the remaining non-odd ball third
+        for (int i = 1; i <= 3; i++) {
+            if (!used[i] && getBallColor(i) != oddColor) {
+                order.add(i);
+                used[i] = true;
+                break;
+            }
+        }
+
+        TELE.addData("works", order);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    void addOddLast(List<Integer> order, boolean oddColor) {
+        // Odd ball last
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) != oddColor) order.add(i);
+        TELE.addData("1", shootOrder);
+        for (int i = 1; i <= 3; i++) if (getBallColor(i) == oddColor) order.add(i);
+        TELE.addData("works", shootOrder);
+        TELE.addData("oddBall", oddColor);
+        shootAll = true;
+
+    }
+
+    // Returns color of ball in slot i (1-based)
+    boolean getBallColor(int slot) {
+        switch (slot) {
+            case 1:
+                return green1;
+            case 2:
+                return green2;
+            case 3:
+                return green3;
+        }
+        return false; // default
+    }
+
+    boolean ballIn(int slot) {
+        switch (slot) {
+            case 1:
+
+                if (!s1T.isEmpty()) {
+
+                    return !(s1T.get(s1T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 2:
+
+                if (!s2T.isEmpty()) {
+
+                    return !(s2T.get(s2T.size() - 1) < (getRuntime()) - 3);
+                }
+
+            case 3:
+
+                if (!s3T.isEmpty()) {
+
+                    return !(s3T.get(s3T.size() - 1) < (getRuntime()) - 3);
+
+                }
+        }
+        return true; // default
+    }
+
+    public double turretPos() {
+        return (scalar*((robot.turr1Pos.getVoltage()-restPos) /3.3 ));
+    }
+
+}

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

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

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

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

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

@@ -6,8 +6,8 @@ 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.subsystems.AprilTagWebcam;
+import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
-import org.firstinspires.ftc.teamcode.subsystems.Robot;
+import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
 @TeleOp

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

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

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

@@ -1,16 +1,13 @@
 package org.firstinspires.ftc.teamcode.tests;
 
-
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.arcrobotics.ftclib.controller.PIDController;
-import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
-import org.firstinspires.ftc.teamcode.subsystems.Robot;
+import org.firstinspires.ftc.teamcode.utils.Robot;
 
 @Config
 @TeleOp
@@ -18,35 +15,32 @@ public class ShooterTest extends LinearOpMode {
 
     public static int mode = 0;
     public static double parameter = 0.0;
-    Robot robot;
-    private DcMotorEx leftShooter;
-    private DcMotorEx rightShooter;
-    private DcMotorEx encoder;
-    private double encoderRevolutions = 0.0;
-    private double lastEncoderRevolutions = 0.0;
-    private double timeStamp = 0.0;
-    private double lastTimeStamp = 0.0;
-
-
     // --- CONSTANTS YOU TUNE ---
-    public static double MAX_RPM = 2500;      // your measured max RPM
+    public static double MAX_RPM = 4500;      // your measured max RPM
-    public static double kP = 0.01;           // small proportional gain (tune this)
+    public static double kP = 0.001;           // small proportional gain (tune this)
-    public static double maxStep = 0.2;         // prevents sudden jumps
+    public static double maxStep = 0.06;         // 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;
 
     @Override
     public void runOpMode() throws InterruptedException {
 
         robot = new Robot(hardwareMap);
-        leftShooter = robot.shooter1;
+        DcMotorEx leftShooter = robot.shooter1;
-        rightShooter = robot.shooter2;
+        DcMotorEx rightShooter = robot.shooter2;
-        encoder = robot.shooter1;
+        DcMotorEx encoder = robot.shooter1;
 
         MultipleTelemetry TELE = new MultipleTelemetry(
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
 
-
-
         waitForStart();
 
         if (isStopRequested()) return;
@@ -55,29 +49,24 @@ public class ShooterTest extends LinearOpMode {
 
             double kF = 1.0 / MAX_RPM;     // baseline feedforward
 
+            double encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
 
-
+            double velocity = -60 * (encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
-
-            encoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
-
-            double velocity = -60*(encoderRevolutions - lastEncoderRevolutions) / (getRuntime() - lastTimeStamp);
 
             TELE.addLine("Mode: 0 = Manual, 1 = Vel, 2 = Pos");
             TELE.addLine("Parameter = pow, vel, or pos");
-            TELE.addData("leftShooterPower",  leftShooter.getPower());
+            TELE.addData("leftShooterPower", leftShooter.getPower());
             TELE.addData("rightShooterPower", rightShooter.getPower());
             TELE.addData("shaftEncoderPos", encoderRevolutions);
             TELE.addData("shaftEncoderVel", velocity);
 
-            double velPID = 0.0;
+            double velPID;
 
             if (mode == 0) {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
 
-
-
                 // --- FEEDFORWARD BASE POWER ---
                 double feed = kF * parameter;        // Example: vel=2500 → feed=0.5
 
@@ -102,12 +91,19 @@ public class ShooterTest extends LinearOpMode {
             lastTimeStamp = getRuntime();
             lastEncoderRevolutions = (double) encoder.getCurrentPosition() / 2048;
 
+            if (hoodPos != 0.501) {
+                robot.hood.setPosition(hoodPos);
+            }
 
+            if (turretPos!=0.501){
+                robot.turr1.setPosition(turretPos);
+                robot.turr2.setPosition(turretPos);
+            }
+
+            robot.transfer.setPower(transferPower);
 
             TELE.update();
 
-
-
         }
 
     }

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

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

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

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

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

@@ -1,11 +1,9 @@
-package org.firstinspires.ftc.teamcode.subsystems;
+package org.firstinspires.ftc.teamcode.utils;
 
 import android.util.Size;
 
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.vision.VisionPortal;
@@ -34,7 +32,7 @@ public class AprilTagWebcam {
                 .build();
 
         VisionPortal.Builder builder = new VisionPortal.Builder();
-        builder.setCamera(robot.webcamName);
+        builder.setCamera(robot.webcam);
         builder.setCameraResolution(new Size(640, 480));
         builder.addProcessor(aprilTagProcessor);
 

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

@@ -0,0 +1,92 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
+import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+
+public class Flywheel {
+    Robot robot;
+
+    MultipleTelemetry TELE;
+    double initPos = 0.0;
+    double stamp = 0.0;
+    double stamp1 = 0.0;
+    double ticker = 0.0;
+    double stamp2 = 0.0;
+    double currentPos = 0.0;
+    boolean prevSteady = false;
+    double velo = 0.0;
+    double prevVelo = 0.0;
+    double targetVelocity = 0.0;
+    double powPID = 0.0;
+    boolean steady = false;
+
+    public Flywheel () {
+        //robot = new Robot(hardwareMap);
+    }
+
+    public double getVelo () {
+        return velo;
+    }
+
+    public boolean getSteady() {
+        return steady;
+    }
+
+    private double getTimeSeconds ()
+    {
+        return (double) System.currentTimeMillis()/1000.0;
+    }
+
+
+    public double manageFlywheel(int commandedVelocity, double shooter1CurPos) {
+        targetVelocity = (double) commandedVelocity;
+
+        ticker++;
+        if (ticker % 8 == 0) {
+            currentPos = shooter1CurPos / 2048;
+            stamp = getTimeSeconds(); //getRuntime();
+            velo = -60 * ((currentPos - initPos) / (stamp - stamp1));
+            initPos = currentPos;
+            stamp1 = stamp;
+        }
+        // Flywheel control code here
+        if (targetVelocity - velo > 500) {
+            powPID = 1.0;
+        } else if (velo - targetVelocity > 500){
+            powPID = 0.0;
+        } else {
+            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
+
+            // --- PROPORTIONAL CORRECTION ---
+            double error = targetVelocity - velo;
+            double correction = kP * error;
+
+            // limit how fast power changes (prevents oscillation)
+            correction = Math.max(-maxStep, Math.min(maxStep, correction));
+
+            // --- FINAL MOTOR POWER ---
+            powPID = feed + correction;
+
+            // clamp to allowed range
+            powPID = Math.max(0, Math.min(1, powPID));
+        }
+
+        // really should be a running average of the last 5
+        if ((Math.abs(targetVelocity - velo) < 150.0) && (Math.abs(targetVelocity - prevVelo) < 150.0))
+        {
+            steady = true;
+        }
+        else
+        {
+            steady = false;
+        }
+
+        return powPID;
+    }
+
+    public void update()
+    {
+    };
+};

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

@@ -0,0 +1,53 @@
+package org.firstinspires.ftc.teamcode.utils;
+
+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;
+
+@TeleOp
+@Config
+public class PositionalServoProgrammer extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    public static double spindexPos = 0.501;
+    public static double turretPos = 0.501;
+    public static double transferPos = 0.501;
+    public static double hoodPos = 0.501;
+
+    public static double scalar = 1.112;
+    public static double restPos = 0.15;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        waitForStart();
+        if (isStopRequested()) return;
+        while (opModeIsActive()){
+            if (spindexPos != 0.501){
+                robot.spin1.setPosition(spindexPos);
+                robot.spin2.setPosition(1-spindexPos);
+            }
+            if (turretPos != 0.501){
+                robot.turr1.setPosition(turretPos);
+                robot.turr2.setPosition(1-turretPos);
+            }
+            if (transferPos != 0.501){
+                robot.transferServo.setPosition(transferPos);
+            }
+            if (hoodPos != 0.501){
+                robot.hood.setPosition(hoodPos);
+            }
+            TELE.addData("spindexer", scalar*((robot.spin1Pos.getVoltage() - restPos) / 3.3));
+            TELE.addData("hood", 1-scalar*((robot.hoodPos.getVoltage() - restPos) / 3.3));
+            TELE.addData("transferServo", scalar*((robot.transferServoPos.getVoltage() - restPos) / 3.3));
+            TELE.addData("turret", scalar*((robot.turr1Pos.getVoltage() - restPos) / 3.3));
+            TELE.addData("spindexerA", robot.spin1Pos.getVoltage());
+            TELE.addData("hoodA", robot.hoodPos.getVoltage());
+            TELE.addData("transferServoA", robot.transferServoPos.getVoltage());
+            TELE.addData("turretA", robot.turr1Pos.getVoltage());
+            TELE.update();
+        }
+    }
+}

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

@@ -1,19 +1,16 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+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.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 {
 
@@ -30,8 +27,6 @@ public class Robot {
 
     public DcMotorEx transfer;
 
-
-
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
@@ -61,27 +56,31 @@ public class Robot {
 
     public AnalogInput analogInput2;
 
-    public AprilTagProcessor aprilTagProcessor;
+    public AnalogInput spin1Pos;
 
+    public AnalogInput spin2Pos;
+
+    public AnalogInput hoodPos;
+
+    public AnalogInput turr1Pos;
+
+    public AnalogInput turr2Pos;
+
+    public AnalogInput transferServoPos;
+
+    public AprilTagProcessor aprilTagProcessor;
 
     public WebcamName webcam;
 
     public DcMotorEx shooterEncoder;
 
+    public RevColorSensorV3 color1;
 
+    public RevColorSensorV3 color2;
 
+    public RevColorSensorV3 color3;
 
-
+    public Robot(HardwareMap hardwareMap) {
-
-
-
-
-
-
-
-
-
-    public Robot (HardwareMap hardwareMap) {
 
         //Define components w/ hardware map
 
@@ -106,16 +105,28 @@ public class Robot {
 
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
 
+        shooterEncoder = shooter1;
+
         hood = hardwareMap.get(Servo.class, "hood");
 
+        hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");
+
         turr1 = hardwareMap.get(Servo.class, "t1");
 
+        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos");
+
         turr2 = hardwareMap.get(Servo.class, "t2");
 
+        turr2Pos = hardwareMap.get(AnalogInput.class, "t2Pos");
+
         spin1 = hardwareMap.get(Servo.class, "spin1");
 
+        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
+
         spin2 = hardwareMap.get(Servo.class, "spin2");
 
+        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
+
         pin0 = hardwareMap.get(DigitalChannel.class, "pin0");
 
         pin1 = hardwareMap.get(DigitalChannel.class, "pin1");
@@ -128,27 +139,26 @@ public class Robot {
 
         pin5 = hardwareMap.get(DigitalChannel.class, "pin5");
 
-
-
         analogInput = hardwareMap.get(AnalogInput.class, "analog");
 
-
         analogInput2 = hardwareMap.get(AnalogInput.class, "analog2");
 
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
 
         transferServo = hardwareMap.get(Servo.class, "transferServo");
 
+        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
+
         transfer.setDirection(DcMotorSimple.Direction.REVERSE);
 
         aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
 
-
         webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
 
+        color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
 
+        color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
 
-
+        color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
-
     }
 }