teleop tweaks

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java

.slothLoad/SlothLoad.run.xml

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

.teamCodeRun/TeamCode.run.xml

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12BallPedroPathing.java

@@ -0,0 +1,392 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+import static org.firstinspires.ftc.teamcode.utils.Turret.turrDefault;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierCurve;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utilsv2.Turret;
+
+import java.util.List;
+
+public class Auto12BallPedroPathing extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+//    Flywheel flywheel;
+//    Targeting targeting;
+//    Targeting.Settings targetingSettings;
+    Follower follower;
+//    Turret turret;
+//    Spindexer spindexer;
+//    Servos servos;
+    MeasuringLoopTimes loopTimes;
+
+    // Wait Times
+    public static double shootTime = 2;
+
+    // Extra Variables
+    public static double intakePower = 0.3;
+    double shootX, shootY, shootH;
+
+    // Initialize path state machine
+    private enum PathState {
+        DRIVE_SHOOT0, WAIT_SHOOT0,
+        DRIVE_PICKUP1, PICKUP1, DRIVE_SHOOT1, WAIT_SHOOT1,
+        DRIVE_PICKUP2, PICKUP2, DRIVE_SHOOT2, WAIT_SHOOT2,
+        DRIVE_PICKUP3, PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3
+    }
+    PathState pathState = PathState.DRIVE_SHOOT0;
+
+    // Poses
+    public static double startPoseX = 112, startPoseY = 132.5, startPoseH = -90;
+    public static double shoot0X = 106, shoot0Y = 106, shoot0H = -40;
+    public static double drivePickup1X = 102, drivePickup1Y = 82, drivePickup1H = 0;
+    public static double pickup1X = 126, pickup1Y = 82, pickup1H = 0;
+    public static double shoot1X = 86, shoot1Y = 82, shoot1H = -80;
+    public static double drivePickup2ControlX = 91.69828844730904, drivePickup2ControlY = 66.724457099909;
+    public static double drivePickup2X = 102, drivePickup2Y = 58.5, drivePickup2H = 0;
+    public static double pickup2X = 132, pickup2Y = 57, pickup2H = 0;
+    public static double shoot2ControlX = 86, shoot2ControlY = 57;
+    public static double shoot2X = 86, shoot2Y = 82, shoot2H = -90;
+    public static double drivePickup3ControlX = 97.97800291788306, drivePickup3ControlY = 50.10765863138859;
+    public static double drivePickup3X = 102, drivePickup3Y = 34.5, drivePickup3H = 0;
+    public static double pickup3X = 132, pickup3Y = 34.5, pickup3H = 0;
+    public static double shoot3ControlX = 86, shoot3ControlY = 34.5;
+    public static double shoot3X = 84, shoot3Y = 102, shoot3H = -90;
+    Pose startPose, shoot0,
+            drivePickup1, pickup1, shoot1,
+            drivePickup2Control, drivePickup2, pickup2, shoot2Control, shoot2,
+            drivePickup3Control, drivePickup3, pickup3, shoot3Control, shoot3;
+    private void initializePoses(){
+        startPose = new Pose(startPoseX, startPoseY, Math.toRadians(startPoseH));
+        shoot0 = new Pose(shoot0X, shoot0Y, Math.toRadians(shoot0H));
+        drivePickup1 = new Pose(drivePickup1X, drivePickup1Y, Math.toRadians(drivePickup1H));
+        pickup1 = new Pose(pickup1X, pickup1Y, Math.toRadians(pickup1H));
+        shoot1 = new Pose(shoot1X, shoot1Y, Math.toRadians(shoot1H));
+        drivePickup2Control = new Pose(drivePickup2ControlX, drivePickup2ControlY);
+        drivePickup2 = new Pose(drivePickup2X, drivePickup2Y, Math.toRadians(drivePickup2H));
+        pickup2 = new Pose(pickup2X, pickup2Y, Math.toRadians(pickup2H));
+        shoot2Control = new Pose(shoot2ControlX, shoot2ControlY);
+        shoot2 = new Pose(shoot2X, shoot2Y, Math.toRadians(shoot2H));
+        drivePickup3Control = new Pose(drivePickup3ControlX, drivePickup3ControlY);
+        drivePickup3 = new Pose(drivePickup3X, drivePickup3Y, Math.toRadians(drivePickup3H));
+        pickup3 = new Pose(pickup3X, pickup3Y, Math.toRadians(pickup3H));
+        shoot3Control = new Pose(shoot3ControlX, shoot3ControlY);
+        shoot3 = new Pose(shoot3X, shoot3Y, Math.toRadians(shoot3H));
+    } // add poses to void
+
+    //Building Paths
+    PathChain startPose_shoot0,
+            shoot0_drivePickup1, drivePickup1_pickup1, pickup1_shoot1,
+            shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
+            shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
+    private void buildPaths(){
+        startPose_shoot0 = follower.pathBuilder()
+                .addPath(new BezierLine(startPose, shoot0))
+                .setLinearHeadingInterpolation(startPose.getHeading(), shoot0.getHeading())
+                .build();
+
+        shoot0_drivePickup1 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot0, drivePickup1))
+                .setLinearHeadingInterpolation(shoot0.getHeading(), drivePickup1.getHeading())
+                .build();
+
+        drivePickup1_pickup1 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup1, pickup1))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        pickup1_shoot1 = follower.pathBuilder()
+                .addPath(new BezierLine(pickup1, shoot1))
+                .setLinearHeadingInterpolation(pickup1.getHeading(), shoot1.getHeading())
+                .build();
+
+        shoot1_drivePickup2 = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot1, drivePickup2Control, drivePickup2))
+                .setLinearHeadingInterpolation(shoot1.getHeading(), drivePickup2.getHeading())
+                .build();
+
+        drivePickup2_pickup2 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup2, pickup2))
+                .setConstantHeadingInterpolation(pickup2.getHeading())
+                .build();
+
+        pickup2_shoot2 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup2, shoot2Control, shoot2))
+                .setLinearHeadingInterpolation(pickup2.getHeading(), shoot2.getHeading())
+                .build();
+
+        shoot2_drivePickup3 = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot2, drivePickup3Control, drivePickup3))
+                .setLinearHeadingInterpolation(shoot2.getHeading(), drivePickup3.getHeading())
+                .build();
+
+        drivePickup3_pickup3 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup3, pickup3))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        pickup3_shoot3 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup3, shoot3Control, shoot3))
+                .setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private boolean startAuto = true;
+    private double timeStamp = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case DRIVE_SHOOT0:
+                if (startAuto){
+                    follower.followPath(startPose_shoot0, true);
+                    startAuto = false;
+                    shootX = shoot0X;
+                    shootY = shoot0Y;
+                    shootH = shoot0H;
+                }
+                driveShoot(PathState.WAIT_SHOOT0, currentTime);
+                break;
+            case WAIT_SHOOT0:
+                waitShoot(PathState.DRIVE_PICKUP1, shoot0_drivePickup1, currentTime);
+                break;
+            case DRIVE_PICKUP1:
+                drivePickup(PathState.PICKUP1, drivePickup1_pickup1);
+                break;
+            case PICKUP1:
+                pickup(PathState.DRIVE_SHOOT1, pickup1_shoot1);
+                shootX = shoot1X;
+                shootY = shoot1Y;
+                shootH = shoot1H;
+                break;
+            case DRIVE_SHOOT1:
+                intakePowerDown(timeStamp, currentTime);
+                driveShoot(PathState.WAIT_SHOOT1, currentTime);
+                break;
+            case WAIT_SHOOT1:
+                waitShoot(PathState.DRIVE_PICKUP2, shoot1_drivePickup2, currentTime);
+                break;
+            case DRIVE_PICKUP2:
+                drivePickup(PathState.PICKUP2, drivePickup2_pickup2);
+                break;
+            case PICKUP2:
+                pickup(PathState.DRIVE_SHOOT2, pickup2_shoot2);
+                shootX = shoot2X;
+                shootY = shoot2Y;
+                shootH = shoot2H;
+                break;
+            case DRIVE_SHOOT2:
+                intakePowerDown(timeStamp, currentTime);
+                driveShoot(PathState.WAIT_SHOOT2, currentTime);
+                break;
+            case WAIT_SHOOT2:
+                waitShoot(PathState.DRIVE_PICKUP3, shoot2_drivePickup3, currentTime);
+                break;
+            case DRIVE_PICKUP3:
+                drivePickup(PathState.PICKUP3, drivePickup3_pickup3);
+                break;
+            case PICKUP3:
+                pickup(PathState.DRIVE_SHOOT3, pickup3_shoot3);
+                shootX = shoot3X;
+                shootY = shoot3Y;
+                shootH = shoot3H;
+                break;
+            case DRIVE_SHOOT3:
+                intakePowerDown(timeStamp, currentTime);
+                driveShoot(PathState.WAIT_SHOOT3, currentTime);
+                break;
+            case WAIT_SHOOT3:
+//                if (spindexer.shootAllComplete()){
+//                    spindexer.resetSpindexer();
+//                    TELE.addLine("Done Auto");
+//                }
+                break;
+            default:
+                break;
+        }
+        TELE.update(); // use for debugging
+    }
+
+    // Voids for State Machine
+    private void intakePowerDown(double stamp, double currentTime) {
+        double pow = (stamp - currentTime) / 2; // adjust denominator to see how much time to adjust
+        if (pow < -1) {pow = 0;}
+//        spindexer.setIntakePower(pow);
+    }
+    private void driveShoot(PathState nextState, double currentTime){
+        if (!follower.isBusy()){
+            pathState = nextState;
+            timeStamp = currentTime;
+//            spindexer.prepareShootAllContinous();
+        }
+    }
+    private void waitShoot(PathState nextState, PathChain nextPath, double currentTime) {
+        if (currentTime - timeStamp > shootTime) { // spindexer.shootAllComplete() ||
+//            spindexer.resetSpindexer();
+            pathState = nextState;
+            follower.followPath(nextPath, true);
+//            spindexer.setIntakePower(1);
+        }
+    }
+    private void drivePickup(PathState nextState, PathChain nextPath) {
+        if (!follower.isBusy()) {
+            pathState = nextState;
+            follower.followPath(nextPath, intakePower, false);
+        }
+    }
+    private void pickup(PathState nextState, PathChain nextPath) {
+        if (!follower.isBusy()) {
+            pathState = nextState;
+            follower.followPath(nextPath, true);
+        }
+    }
+
+    // Helps manage spindexer
+    private boolean driveToShoot(){
+        return pathState == PathState.DRIVE_SHOOT0 ||
+                pathState == PathState.DRIVE_SHOOT1 ||
+                pathState == PathState.DRIVE_SHOOT2 ||
+                pathState == PathState.DRIVE_SHOOT3;
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return (144-pose);}
+    private double adjustHeadingBasedOnAlliance(double heading){
+        heading = 180 - heading;
+        while (heading > 180) {heading-=360;}
+        while (heading <= -180) {heading+=360;}
+        return heading;
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+//        flywheel = new Flywheel(hardwareMap);
+//        targeting = new Targeting();
+//        targetingSettings = new Targeting.Settings(0,0);
+        follower = Constants.createFollower(hardwareMap);
+        follower.setStartingPose(new Pose(72,72,0));
+//        turret = new Turret(robot, TELE, robot.limelight);
+//        spindexer = new Spindexer(hardwareMap);
+//        servos = new Servos(hardwareMap);
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+
+//        robot.light.setPosition(Color.LightRed);
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+            follower.update();
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+//                if (Color.redAlliance){
+//                    robot.light.setPosition(Color.LightRed);
+//                } else {
+//                    robot.light.setPosition(Color.LightBlue);
+//                }
+
+                double[] xPoses = {startPoseX, shoot0X,
+                        drivePickup1X, pickup1X, shoot1X,
+                        drivePickup2ControlX, drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
+                        drivePickup3ControlX, drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
+
+                double[] headings = {startPoseH, shoot0H,
+                        drivePickup1H, pickup1H, shoot1H,
+                        drivePickup2H, pickup2H, shoot2H,
+                        drivePickup3H, pickup3H, shoot3H};
+
+                for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
+                for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initializeRobot = true;
+                initializePoses();
+                follower.setPose(startPose);
+                buildPaths();
+//                turret.switchPipeline(Turret.PipelineMode.OBELISK);
+                robot.limelight.start();
+                sleep(2000);
+
+//                turret.setTurret(turrDefault);
+//                servos.setSpinPos(spinStartPos);
+            }
+
+            TELE.addData("Red Alliance?", Color.redAlliance);
+            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
+            TELE.addData("Start Pose", follower.getPose());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+//        robot.transfer.setPower(1);
+        limelightUsed = false;
+
+        while (opModeIsActive()){
+            follower.update();
+            pathStateMachine();
+            Pose currentPose = follower.getPose();
+//            teleStartPoseX = currentPose.getX();
+//            teleStartPoseY = currentPose.getY();
+//            teleStartPoseH = Math.toDegrees(currentPose.getHeading());
+//
+//            turret.trackGoal(new Pose(shootX, shootY, Math.toRadians(shootH)));
+//            targetingSettings = targeting.calculateSettings(shootX, shootY, Math.toRadians(shootH), 0, turretInterpolate);
+//
+//            double voltage = robot.voltage.getVoltage();
+//            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+//            flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+//            servos.setHoodPos(targetingSettings.hoodAngle);
+//
+//            if (driveToShoot()){servos.setSpinPos(spinStartPos);}
+//            else {spindexer.processIntake();}
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("X:", currentPose.getX());
+            TELE.addData("Y:", currentPose.getY());
+            TELE.addData("H:", currentPose.getHeading());
+            TELE.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto12Ball_Back_Sorted.java

@@ -0,0 +1,421 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierCurve;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+
+import java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV4")
+public class Auto12Ball_Back_Sorted extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Follower follower;
+    MeasuringLoopTimes loopTimes;
+    Shooter shooter;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+    SpindexerTransferIntake spindexer;
+
+    // Wait Times
+    public static double sortedShootTime = 2.6;
+    public static double rapidWaitTime = 0.5;
+    public static double rapidShootTime = 0.8;
+    public static double openGateTime = 2.5;
+    public static double pushTime = 2;
+
+    // Extra Variables
+    public static double intakePower = 0.5;
+    double shootX, shootY, shootH;
+
+    // Initialize path state machine
+    private enum PathState {
+        PUSHBOT, DRIVE_SHOOT0, WAIT_SHOOT0,
+        PICKUP1, OPENGATE, DRIVE_SHOOT1, WAIT_SHOOT1,
+        DRIVE_PICKUP2, PICKUP2, DRIVE_SHOOT2, WAIT_SHOOT2,
+        DRIVE_PICKUP3, PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3
+    }
+    PathState pathState = PathState.PUSHBOT;
+
+    // Poses
+    public static double startPoseX = 12, startPoseY = -64, startPoseH = 90;
+    public static double pushBotX = 19, pushBotY = -63, pushBotH = 100;
+    public static double shoot0ControlX = 16.29667812142038, shoot0ControlY = -19.67493699885454;
+    public static double shoot0X = 19, shoot0Y = 10, shoot0H = 0;
+    public static double pickup1X = 54, pickup1Y = 10, pickup1H = 0;
+    public static double openGateControlX = 37.184421534937, openGateControlY = 2.24455899198165;
+    public static double openGateX = 59, openGateY = 2, openGateH = 0;
+    public static double shoot1ControlX = 40, shoot1ControlY = 3;
+    public static double shoot1X = 19, shoot1Y = 10, shoot1H = 0;
+    public static double drivePickup2X = 26, drivePickup2Y = -14, drivePickup2H = 0;
+    public static double pickup2X = 61, pickup2Y = -14.5, pickup2H = 0;
+    public static double shoot2ControlX = 30, shoot2ControlY = -9;
+    public static double shoot2X = 19, shoot2Y = 10, shoot2H = 0;
+    public static double drivePickup3X = 26, drivePickup3Y = -37.5, drivePickup3H = 0;
+    public static double pickup3X = 61, pickup3Y = -37.5, pickup3H = 0;
+    public static double shoot3ControlX = 25.62371134020621, shoot3ControlY = -38.813287514318446;
+    public static double shoot3X = 12, shoot3Y = 40, shoot3H = -90;
+    double[] xPoses = {startPoseX, pushBotX, shoot0ControlX, shoot0X,
+            pickup1X, openGateControlX, openGateX, shoot1ControlX, shoot1X,
+            drivePickup2X, pickup2X, shoot2ControlX, shoot2X,
+            drivePickup3X, pickup3X, shoot3ControlX, shoot3X};
+    double[] yPoses = {startPoseY, pushBotY, shoot0ControlY, shoot0Y,
+            pickup1Y, openGateControlY, openGateY, shoot1ControlY, shoot1Y,
+            drivePickup2Y, pickup2Y, shoot2ControlY, shoot2Y,
+            drivePickup3Y, pickup3Y, shoot3ControlY, shoot3Y};
+    double[] headings = {startPoseH, pushBotH, 0, shoot0H,
+            pickup1H, 0, openGateH, 0, shoot1H,
+            drivePickup2H, pickup2H, 0, shoot2H,
+            drivePickup3H, pickup3H, 0, shoot3H};
+    Pose startPose, pushBot, shoot0Control, shoot0,
+            pickup1, openGateControl, openGate, shoot1Control, shoot1,
+            drivePickup2, pickup2, shoot2Control, shoot2,
+            drivePickup3, pickup3, shoot3Control, shoot3;
+    private void initializePoses(){
+        startPose = new Pose(xPoses[0], yPoses[0], Math.toRadians(headings[0]));
+        pushBot = new Pose(xPoses[1], yPoses[1], Math.toRadians(headings[1]));
+        shoot0Control = new Pose(xPoses[2], yPoses[2]);
+        shoot0 = new Pose(xPoses[3], yPoses[3], Math.toRadians(headings[3]));
+        pickup1 = new Pose(xPoses[4], yPoses[4], Math.toRadians(headings[4]));
+        openGateControl = new Pose(xPoses[5], yPoses[5]);
+        openGate = new Pose(xPoses[6], yPoses[6], Math.toRadians(headings[6]));
+        shoot1Control = new Pose(xPoses[7], yPoses[7]);
+        shoot1 = new Pose(xPoses[8], yPoses[8], Math.toRadians(headings[8]));
+        drivePickup2 = new Pose(xPoses[9], yPoses[9], Math.toRadians(headings[9]));
+        pickup2 = new Pose(xPoses[10], yPoses[10], Math.toRadians(headings[10]));
+        shoot2Control = new Pose(xPoses[11], yPoses[11]);
+        shoot2 = new Pose(xPoses[12], yPoses[12], Math.toRadians(headings[12]));
+        drivePickup3 = new Pose(xPoses[13], yPoses[13], Math.toRadians(headings[13]));
+        pickup3 = new Pose(xPoses[14], yPoses[14], Math.toRadians(headings[14]));
+        shoot3Control = new Pose(xPoses[15], yPoses[15]);
+        shoot3 = new Pose(xPoses[16], yPoses[16], Math.toRadians(headings[16]));
+    }
+
+    //Building Paths
+    PathChain startPose_pushBot, pushBot_shoot0,
+            shoot0_pickup1, pickup1_openGate, openGate_shoot1,
+            shoot1_drivePickup2, drivePickup2_pickup2, pickup2_shoot2,
+            shoot2_drivePickup3, drivePickup3_pickup3, pickup3_shoot3;
+    private void buildPaths(){
+        startPose_pushBot = follower.pathBuilder()
+                .addPath(new BezierLine(startPose, pushBot))
+                .setLinearHeadingInterpolation(startPose.getHeading(), pushBot.getHeading())
+                .build();
+
+        pushBot_shoot0 = follower.pathBuilder()
+                .addPath(new BezierCurve(pushBot, shoot0Control, shoot0))
+                .setLinearHeadingInterpolation(pushBot.getHeading(), shoot0.getHeading())
+                .build();
+
+        shoot0_pickup1 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot0, pickup1))
+                .setLinearHeadingInterpolation(shoot0.getHeading(), pickup1.getHeading())
+                .build();
+
+        pickup1_openGate = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup1, openGateControl, openGate))
+                .setLinearHeadingInterpolation(pickup1.getHeading(), openGate.getHeading())
+                .build();
+
+        openGate_shoot1 = follower.pathBuilder()
+                .addPath(new BezierCurve(openGate, shoot1Control, shoot1))
+                .setLinearHeadingInterpolation(openGate.getHeading(), shoot1.getHeading())
+                .build();
+
+        shoot1_drivePickup2 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot1, drivePickup2))
+                .setLinearHeadingInterpolation(shoot1.getHeading(), drivePickup2.getHeading())
+                .build();
+
+        drivePickup2_pickup2 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup2, pickup2))
+                .setLinearHeadingInterpolation(drivePickup2.getHeading(), pickup2.getHeading())
+                .build();
+
+        pickup2_shoot2 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup2, shoot2Control, shoot2))
+                .setLinearHeadingInterpolation(pickup2.getHeading(), shoot2.getHeading())
+                .build();
+
+        shoot2_drivePickup3 = follower.pathBuilder()
+                .addPath(new BezierLine(shoot2, drivePickup3))
+                .setLinearHeadingInterpolation(shoot2.getHeading(), drivePickup3.getHeading())
+                .build();
+
+        drivePickup3_pickup3 = follower.pathBuilder()
+                .addPath(new BezierLine(drivePickup3, pickup3))
+                .setLinearHeadingInterpolation(drivePickup3.getHeading(), pickup3.getHeading())
+                .build();
+
+        pickup3_shoot3 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup3, shoot3Control, shoot3))
+                .setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private boolean startAuto = true;
+    private double timeStamp = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case PUSHBOT:
+                spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
+                shooter.setFlywheelVelocity(2400);
+                robot.setHoodPos(0.64);
+                if (startAuto){
+                    follower.followPath(startPose_pushBot, false);
+                    startAuto = false;
+                    timeStamp = currentTime;
+                    shootX = shoot0X;
+                    shootY = shoot0Y;
+                    shootH = shoot0H;
+                }
+                if (!follower.isBusy() || currentTime - timeStamp > pushTime){
+                    follower.followPath(pushBot_shoot0, true);
+                    pathState = PathState.DRIVE_SHOOT0;
+                }
+                break;
+            case DRIVE_SHOOT0:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT0;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT0:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shoot0_pickup1, intakePower, false);
+                    pathState = PathState.PICKUP1;
+                    spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SORTED);
+                }
+                break;
+            case PICKUP1:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup1_openGate, false);
+                    pathState = PathState.OPENGATE;
+                    shootX = shoot1X;
+                    shootY = shoot1Y;
+                    shootH = shoot1H;
+                    timeStamp = currentTime;
+                    shooter.setFlywheelVelocity(2300);
+                    robot.setHoodPos(0.68);
+                }
+                break;
+            case OPENGATE:
+                if (currentTime - timeStamp > openGateTime){
+                    follower.followPath(openGate_shoot1, true);
+                    pathState = PathState.DRIVE_SHOOT1;
+                }
+                break;
+            case DRIVE_SHOOT1:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT1;
+                    timeStamp = currentTime;
+                    spindexer.startSortedShoot();
+                }
+                break;
+            case WAIT_SHOOT1:
+                if (currentTime - timeStamp > sortedShootTime){
+                    follower.followPath(shoot1_drivePickup2, true);
+                    pathState = PathState.DRIVE_PICKUP2;
+                }
+                break;
+            case DRIVE_PICKUP2:
+                if (!follower.isBusy()) {
+                    follower.followPath(drivePickup2_pickup2, intakePower, false);
+                    pathState = PathState.PICKUP2;
+                }
+                break;
+            case PICKUP2:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup2_shoot2, true);
+                    pathState = PathState.DRIVE_SHOOT2;
+                }
+                shootX = shoot2X;
+                shootY = shoot2Y;
+                shootH = shoot2H;
+                break;
+            case DRIVE_SHOOT2:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT2;
+                    timeStamp = currentTime;
+                    spindexer.startSortedShoot();
+                }
+                break;
+            case WAIT_SHOOT2:
+                if (currentTime - timeStamp > sortedShootTime){
+                    follower.followPath(shoot2_drivePickup3, true);
+                    pathState = PathState.DRIVE_PICKUP3;
+                }
+                break;
+            case DRIVE_PICKUP3:
+                if (!follower.isBusy()){
+                    shooter.setFlywheelVelocity(2200);
+                    robot.setHoodPos(0.75);
+                    follower.followPath(drivePickup3_pickup3, intakePower, false);
+                    pathState = PathState.PICKUP3;
+                }
+                break;
+            case PICKUP3:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup3_shoot3, true);
+                    pathState = PathState.DRIVE_SHOOT3;
+                }
+                shootX = shoot3X;
+                shootY = shoot3Y;
+                shootH = shoot3H;
+                break;
+            case DRIVE_SHOOT3:
+                if (!follower.isBusy()){
+                    pathState = PathState.WAIT_SHOOT3;
+                    spindexer.startSortedShoot();
+                }
+                break;
+            case WAIT_SHOOT3:
+                // add line here to say "done auto"
+                break;
+            default:
+                break;
+        }
+        TELE.update(); // use for debugging
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return -pose;}
+    private double adjustHeadingBasedOnAlliance(double heading){
+        heading = 180 - heading;
+        while (heading > 180) {heading-=360;}
+        while (heading <= -180) {heading+=360;}
+        return heading;
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        follower = Constants.createFollower(hardwareMap);
+        sleep(1000);
+        follower.setStartingPose(new Pose(0,0,0));
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+        turret = new Turret(robot);
+        flywheel = new Flywheel(robot);
+        commander = new VelocityCommander();
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        spindexer = new SpindexerTransferIntake(robot, TELE, commander);
+        ParkTilter park = new ParkTilter(robot);
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+            follower.update();
+
+            if (gamepad1.squareWasPressed()){
+                robot.setSpinPos(ServoPositions.spindexer_A2);
+                robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Closed);
+                robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+            }
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+                shooter.setRedAlliance(Color.redAlliance);
+            }
+
+            if (!initializeRobot){
+                if ((Color.redAlliance && xPoses[0] < 0)
+                    || (!Color.redAlliance && xPoses[0] > 0)){
+                    for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
+                    for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
+                }
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initializeRobot = true;
+                initializePoses();
+                follower.setPose(startPose);
+                buildPaths();
+                sleep(2000);
+                turret.switchPipeline(Turret.PipelineMode.OBELISK);
+                robot.limelight.start();
+                limelightUsed = true;
+                park.unpark();
+            }
+
+            if (initializeRobot){
+                //add obelisk read here
+                shooter.setState(Shooter.ShooterState.READ_OBELISK);
+                int ID = turret.getObeliskID();
+                spindexer.setDesiredPatternAuto(ID);
+                TELE.addData("ID", ID);
+                shooter.update(robot.voltage.getVoltage());
+            }
+
+            TELE.addData("Red Alliance?", Color.redAlliance);
+            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
+            TELE.addData("Start Pose", follower.getPose());
+            TELE.addData("Current LL Pipeline", turret.pipeline());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Closed);
+            park.unpark();
+
+            shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+            shooter.update(robot.voltage.getVoltage());
+
+            if (!isStopRequested()){
+                follower.update();
+            }
+            pathStateMachine();
+            TeleopV4.teleStart = follower.getPose();
+
+            spindexer.update();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("X:", TeleopV4.teleStart.getX());
+            TELE.addData("Y:", TeleopV4.teleStart.getY());
+            TELE.addData("H:", TeleopV4.teleStart.getHeading());
+            TELE.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto15Ball_Back.java

@@ -0,0 +1,361 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierCurve;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+
+import java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV4")
+public class Auto15Ball_Back extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Follower follower;
+    MeasuringLoopTimes loopTimes;
+    Shooter shooter;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+    SpindexerTransferIntake spindexer;
+
+    // Wait Times
+    public static double rapidWaitTime = 0.5;
+    public static double rapidShootTime = 0.8;
+    public static double loadPickupTime = 3;
+
+    // Initialize path state machine
+    private enum PathState {
+        WAIT_VELOCITY, WAIT_SHOOT0,
+        PICKUP3, DRIVE_SHOOT3, WAIT_SHOOT3,
+        PICKUP_LOAD, DRIVE_SHOOT_LOAD, WAIT_SHOOT_LOAD,
+        INTAKE_GATE, DRIVE_SHOOT_GATE, WAIT_SHOOT_GATE, LEAVE
+    }
+    PathState pathState = PathState.WAIT_VELOCITY;
+
+    // Poses
+    public static double startPoseX = 12, startPoseY = -64, startPoseH = 90;
+    public static double pickup3ControlX = 12, pickup3ControlY = -37;
+    public static double pickup3X = 61, pickup3Y = -37, pickup3H = 0;
+    public static double shoot3X = 16, shoot3Y = -57, shoot3H = 0;
+    public static double pickupLoadControlX = 21.23654066437572, pickupLoadControlY = -62.311626575028637;
+    public static double pickupLoadX = 63, pickupLoadY = -63, pickupLoadH = 0;
+    public static double shootLoadControlX = 21.23654066437572, shootLoadControlY = -62.311626575028637;
+    public static double shootLoadX = 16, shootLoadY = -57, shootLoadH = 0;
+    public static double intakeGateControl1X = 51.9656357388316, intakeGateControl1Y = -65.506277205040073;
+    public static double intakeGateControl2X = 60.13459335624285, intakeGateControl2Y = -67.300458190148911;
+    public static double intakeGateX = 59, intakeGateY = -12, intakeGateH = 90;
+    public static double shootGateControlX = 53.8705612829324, shootGateControlY = -35.14501718213059;
+    public static double shootGateX = 16, shootGateY = -57, shootGateH = 0;
+    public static double leaveX = 40, leaveY = 14, leaveH = 0;
+    double[] xPoses = {startPoseX, pickup3ControlX, pickup3X, shoot3X,
+            pickupLoadControlX, pickupLoadX, shootLoadControlX, shootLoadX,
+            intakeGateControl1X, intakeGateControl2X, intakeGateX, shootGateControlX, shootGateX, leaveX};
+    double[] yPoses = {startPoseY, pickup3ControlY, pickup3Y, shoot3Y,
+            pickupLoadControlY, pickupLoadY, shootLoadControlY, shootLoadY,
+            intakeGateControl1Y, intakeGateControl2Y, intakeGateY, shootGateControlY, shootGateY, leaveY};
+    double[] headings = {startPoseH, 0, pickup3H, shoot3H,
+            0, pickupLoadH, 0, shootLoadH,
+            0, 0, intakeGateH, 0, shootGateH, leaveH};
+    Pose startPose, pickup3Control, pickup3, shoot3,
+            pickupLoadControl, pickupLoad, shootLoadControl, shootLoad,
+            intakeGateControl1, intakeGateControl2, intakeGate, shootGateControl, shootGate, leave;
+    private void initializePoses(){
+        startPose = new Pose(xPoses[0], yPoses[0], Math.toRadians(headings[0]));
+        pickup3Control = new Pose(xPoses[1], yPoses[1]);
+        pickup3 = new Pose(xPoses[2], yPoses[2], Math.toRadians(headings[2]));
+        shoot3 = new Pose(xPoses[3], yPoses[3], Math.toRadians(headings[3]));
+        pickupLoadControl = new Pose(xPoses[4], yPoses[4]);
+        pickupLoad = new Pose(xPoses[5], yPoses[5], Math.toRadians(headings[5]));
+        shootLoadControl = new Pose(xPoses[6], yPoses[6]);
+        shootLoad = new Pose(xPoses[7], yPoses[7], Math.toRadians(headings[7]));
+        intakeGateControl1 = new Pose(xPoses[8], yPoses[8]);
+        intakeGateControl2 = new Pose(xPoses[9], yPoses[9]);
+        intakeGate = new Pose(xPoses[10], yPoses[10], Math.toRadians(headings[10]));
+        shootGateControl = new Pose(xPoses[11], yPoses[11]);
+        shootGate = new Pose(xPoses[12], yPoses[12], Math.toRadians(headings[12]));
+        leave = new Pose(xPoses[13], yPoses[13], Math.toRadians(headings[13]));
+    }
+
+    //Building Paths
+    PathChain startPose_pickup3, pickup3_shoot3, shoot3_pickupLoad, pickupLoad_shootLoad,
+            shootLoad_intakeGate, intakeGate_shootGate, shootGate_intakeGate, shootGate_leave;
+    private void buildPaths(){
+        startPose_pickup3 = follower.pathBuilder()
+                .addPath(new BezierCurve(startPose, pickup3Control, pickup3))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        pickup3_shoot3 = follower.pathBuilder()
+                .addPath(new BezierLine(pickup3, shoot3))
+                .setLinearHeadingInterpolation(pickup3.getHeading(), shoot3.getHeading())
+                .build();
+
+        shoot3_pickupLoad = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot3, pickupLoadControl, pickupLoad))
+                .setLinearHeadingInterpolation(shoot3.getHeading(), pickupLoad.getHeading())
+                .build();
+
+        pickupLoad_shootLoad = follower.pathBuilder()
+                .addPath(new BezierCurve(pickupLoad, shootLoadControl, shootLoad))
+                .setLinearHeadingInterpolation(pickupLoad.getHeading(), shootLoad.getHeading())
+                .build();
+
+        shootLoad_intakeGate = follower.pathBuilder()
+                .addPath(new BezierCurve(shootLoad, intakeGateControl1, intakeGateControl2, intakeGate))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        intakeGate_shootGate = follower.pathBuilder()
+                .addPath(new BezierCurve(intakeGate, shootGateControl, shootGate))
+                .setLinearHeadingInterpolation(intakeGate.getHeading(), shootGate.getHeading())
+                .build();
+
+        shootGate_intakeGate = follower.pathBuilder()
+                .addPath(new BezierCurve(shootGate, intakeGateControl1, intakeGateControl2, intakeGate))
+                .setTangentHeadingInterpolation()
+                .build();
+
+        shootGate_leave = follower.pathBuilder()
+                .addPath(new BezierLine(shootGate, leave))
+                .setLinearHeadingInterpolation(shootGate.getHeading(), leave.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private int startAuto = 0;
+    private double timeStamp = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case WAIT_VELOCITY:
+                spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
+                shooter.setFlywheelVelocity(2400);
+                robot.setHoodPos(0.64);
+                if (flywheel.getSteady()){
+                    startAuto++;
+                }
+                if (startAuto > 5){
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT0;
+                }
+                break;
+            case WAIT_SHOOT0:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(startPose_pickup3, false);
+                    pathState = PathState.PICKUP3;
+                }
+                break;
+            case PICKUP3:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup3_shoot3, false);
+                    pathState = PathState.DRIVE_SHOOT3;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT3:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT3;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT3:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shoot3_pickupLoad, false);
+                    pathState = PathState.PICKUP_LOAD;
+                    timeStamp = currentTime;
+                }
+                break;
+            case PICKUP_LOAD:
+                if (currentTime - timeStamp > loadPickupTime){
+                    follower.followPath(pickupLoad_shootLoad, false);
+                    pathState = PathState.DRIVE_SHOOT_LOAD;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT_LOAD:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT_LOAD;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT_LOAD:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shootLoad_intakeGate, false);
+                    pathState = PathState.INTAKE_GATE;
+                    timeStamp = currentTime;
+                }
+                break;
+            case INTAKE_GATE:
+                if (!follower.isBusy()){
+                    follower.followPath(intakeGate_shootGate, false);
+                    pathState = PathState.DRIVE_SHOOT_GATE;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT_GATE:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT_GATE;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT_GATE:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shootGate_intakeGate, false);
+                    pathState = PathState.INTAKE_GATE;
+                    timeStamp = currentTime;
+                    // TODO: add logic for leave
+                }
+                break;
+            case LEAVE:
+                // add line here to say "done auto"
+                break;
+            default:
+                break;
+        }
+        TELE.update(); // use for debugging
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return -pose;}
+    private double adjustHeadingBasedOnAlliance(double heading){
+        heading = 180 - heading;
+        while (heading > 180) {heading-=360;}
+        while (heading <= -180) {heading+=360;}
+        return heading;
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        follower = Constants.createFollower(hardwareMap);
+        sleep(1000);
+        follower.setStartingPose(new Pose(0,0,0));
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+        turret = new Turret(robot);
+        flywheel = new Flywheel(robot);
+        commander = new VelocityCommander();
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        spindexer = new SpindexerTransferIntake(robot, TELE, commander);
+        ParkTilter park = new ParkTilter(robot);
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+
+            park.unpark();
+            robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+
+            follower.update();
+
+            if (gamepad1.squareWasPressed()){
+                robot.setSpinPos(ServoPositions.spindexer_A2);
+                robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Closed);
+                robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+            }
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+                shooter.setRedAlliance(Color.redAlliance);
+            }
+
+            if (!initializeRobot){
+                if ((Color.redAlliance && xPoses[0] < 0)
+                        || (!Color.redAlliance && xPoses[0] > 0)){
+                    for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
+                    for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
+                }
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initializeRobot = true;
+                initializePoses();
+                follower.setPose(startPose);
+                buildPaths();
+                sleep(2000);
+                turret.switchPipeline(Turret.PipelineMode.TRACKING);
+                robot.limelight.start();
+                limelightUsed = true;
+                park.unpark();
+            }
+
+            TELE.addData("Red Alliance?", Color.redAlliance);
+            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
+            TELE.addData("Start Pose", follower.getPose());
+            TELE.addData("Current LL Pipeline", turret.pipeline());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+            shooter.update(robot.voltage.getVoltage());
+
+            if (!isStopRequested()){
+                follower.update();
+            }
+
+            pathStateMachine();
+            TeleopV4.teleStart = follower.getPose();
+
+            spindexer.update();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("X:", TeleopV4.teleStart.getX());
+            TELE.addData("Y:", TeleopV4.teleStart.getY());
+            TELE.addData("H:", TeleopV4.teleStart.getHeading());
+            TELE.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto21Ball_Front_Gate.java

@@ -0,0 +1,462 @@
+package org.firstinspires.ftc.teamcode.autonomous;
+
+import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierCurve;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+
+import java.util.List;
+
+@Config
+@Autonomous (preselectTeleOp = "TeleopV4")
+public class Auto21Ball_Front_Gate extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Follower follower;
+    MeasuringLoopTimes loopTimes;
+    Shooter shooter;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+    SpindexerTransferIntake spindexer;
+    double runtime = 0;
+
+    // Wait Times
+    public static double rapidWaitTime = 0.4;
+    public static double rapidShootTime = 0.45;
+    public static double openGate1Time = 1.5;
+    public static double openGate2Time = 1.5;
+    public static double openGateWaitTimeMax = 3;
+    public static double openGateWaitTimeMin = 1.75;
+    public static int maxLoopCycles = 3;
+
+    // Initialize path state machine
+    private enum PathState {
+        DRIVE_SHOOT0, WAIT_SHOOT0,
+        PICKUP1, OPENGATE1, DRIVE_SHOOT1, WAIT_SHOOT1,
+        PICKUP2, OPENGATE2, DRIVE_SHOOT2, WAIT_SHOOT2,
+        INTAKE_GATE, DRIVE_SHOOT_GATE, WAIT_SHOOT_GATE, DRIVE_SHOOT_LEAVE, WAIT_SHOOT_LEAVE
+    }
+    PathState pathState = PathState.DRIVE_SHOOT0;
+
+    // Poses
+    public static double startPoseX = 55, startPoseY = 39, startPoseH = 0;
+    public static double shoot0X = 25, shoot0Y = 18, shoot0H = 0;
+    public static double pickup1ControlX = 29.53321878579611, pickup1ControlY = 9.84077892325314;
+    public static double pickup1X = 50, pickup1Y = 10, pickup1H = 0;
+    public static double openGate1ControlX = 43.82989690721648, openGate1ControlY = 3.86540664375714;
+    public static double openGate1X = 59, openGate1Y = 2, openGate1H = 0;
+    public static double shoot1ControlX = 40, shoot1ControlY = 3;
+    public static double shoot1X = 25, shoot1Y = 11, shoot1H = -30;
+    public static double pickup2ControlX = 18, pickup2ControlY = -18;
+    public static double pickup2X = 61, pickup2Y = -14.5, pickup2H = 0;
+    public static double openGate2ControlX = 45.9782359679267, openGate2ControlY = -15.106643757159245;
+    public static double openGate2X = 57, openGate2Y = -8, openGate2H = 0;
+    public static double shoot2ControlX = 57, shoot2ControlY = -8;
+    public static double shoot2X = 25, shoot2Y = 11, shoot2H = -30;
+    public static double intakeGateControlX = 61, intakeGateControlY = -11;
+    public static double intakeGateX = 61, intakeGateY = -11, intakeGateH = 20;
+    public static double shootGateControlX = 56, shootGateControlY = -10;
+    public static double shootGateX = 25, shootGateY = 11, shootGateH = -30;
+    public static double shootLeaveControlX = 56, shootLeaveControlY = -10;
+    public static double shootLeaveX = 16, shootLeaveY = 36, shootLeaveH = -50;
+    public static double leaveX = 45, leaveY = 10, leaveH = 0;
+    public static double awayFromGateX = 40, awayFromGateY = -12, awayFromGateH = 0;
+    double[] xPoses = {startPoseX, shoot0X,
+            pickup1ControlX, pickup1X, openGate1ControlX, openGate1X, shoot1ControlX, shoot1X,
+            pickup2ControlX, pickup2X, openGate2ControlX, openGate2X, shoot2ControlX, shoot2X,
+            intakeGateControlX, intakeGateX, shootGateControlX, shootGateX,
+            shootLeaveControlX, shootLeaveX, leaveX, awayFromGateX};
+    double[] yPoses = {startPoseY, shoot0Y,
+            pickup1ControlY, pickup1Y, openGate1ControlY, openGate1Y, shoot1ControlY, shoot1Y,
+            pickup2ControlY, pickup2Y, openGate2ControlY, openGate2Y, shoot2ControlY, shoot2Y,
+            intakeGateControlY, intakeGateY, shootGateControlY, shootGateY,
+            shootLeaveControlY, shootLeaveY, leaveY, awayFromGateY};
+    double[] headings = {startPoseH, shoot0H,
+            0, pickup1H, 0, openGate1H, 0, shoot1H,
+            0, pickup2H, 0, openGate2H, 0, shoot2H,
+            0, intakeGateH, 0, shootGateH,
+            0, shootLeaveH, leaveH, awayFromGateH};
+    Pose startPose, shoot0,
+            pickup1Control, pickup1, openGate1Control, openGate1, shoot1Control, shoot1,
+            pickup2Control, pickup2, openGate2Control, openGate2, shoot2Control, shoot2,
+            intakeGateControl, intakeGate, shootGateControl, shootGate,
+            shootLeaveControl, shootLeave, leave, awayFromGate;
+    private void initializePoses(){
+        startPose = new Pose(xPoses[0], yPoses[0], Math.toRadians(headings[0]));
+        shoot0 = new Pose(xPoses[1], yPoses[1], Math.toRadians(headings[1]));
+        pickup1Control = new Pose(xPoses[2], yPoses[2]);
+        pickup1 = new Pose(xPoses[3], yPoses[3], Math.toRadians(headings[3]));
+        openGate1Control = new Pose(xPoses[4], yPoses[4]);
+        openGate1 = new Pose(xPoses[5], yPoses[5], Math.toRadians(headings[5]));
+        shoot1Control = new Pose(xPoses[6], yPoses[6]);
+        shoot1 = new Pose(xPoses[7], yPoses[7], Math.toRadians(headings[7]));
+        pickup2Control = new Pose(xPoses[8], yPoses[8]);
+        pickup2 = new Pose(xPoses[9], yPoses[9], Math.toRadians(headings[9]));
+        openGate2Control = new Pose(xPoses[10], yPoses[10]);
+        openGate2 = new Pose(xPoses[11], yPoses[11], Math.toRadians(headings[11]));
+        shoot2Control = new Pose(xPoses[12], yPoses[12]);
+        shoot2 = new Pose(xPoses[13], yPoses[13], Math.toRadians(headings[13]));
+        intakeGateControl = new Pose(xPoses[14], yPoses[14]);
+        intakeGate = new Pose(xPoses[15], yPoses[15], Math.toRadians(headings[15]));
+        shootGateControl = new Pose(xPoses[16], yPoses[16]);
+        shootGate = new Pose(xPoses[17], yPoses[17], Math.toRadians(headings[17]));
+        shootLeaveControl = new Pose(xPoses[18], yPoses[18]);
+        shootLeave = new Pose(xPoses[19], yPoses[19], Math.toRadians(headings[19]));
+        leave = new Pose(xPoses[20], yPoses[20], Math.toRadians(headings[20]));
+        awayFromGate = new Pose(xPoses[21], yPoses[21], Math.toRadians(headings[21]));
+    }
+
+    //Building Paths
+    PathChain startPose_shoot0, shoot0_pickup1, pickup1_openGate1, openGate1_shoot1,
+        shoot1_pickup2, pickup2_openGate2, openGate2_shoot2,
+        shoot2_intakeGate, intakeGate_shootGate, shootGate_intakeGate, intakeGate_shootLeave, shootGate_leave, intakeGate_awayFromGate;
+    private void buildPaths(){
+        startPose_shoot0 = follower.pathBuilder()
+                .addPath(new BezierLine(startPose, shoot0))
+                .setLinearHeadingInterpolation(startPose.getHeading(), shoot0.getHeading())
+                .build();
+
+        shoot0_pickup1 = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot0, pickup1Control, pickup1))
+                .setLinearHeadingInterpolation(shoot0.getHeading(), pickup1.getHeading())
+                .build();
+
+        pickup1_openGate1 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup1, openGate1Control, openGate1))
+                .setLinearHeadingInterpolation(pickup1.getHeading(), openGate1.getHeading())
+                .build();
+
+        openGate1_shoot1 = follower.pathBuilder()
+                .addPath(new BezierCurve(openGate1, shoot1Control, shoot1))
+                .setLinearHeadingInterpolation(openGate1.getHeading(), shoot1.getHeading())
+                .build();
+
+        shoot1_pickup2 = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot1, pickup2Control, pickup2))
+                .setLinearHeadingInterpolation(shoot1.getHeading(), pickup2.getHeading())
+                .build();
+
+        pickup2_openGate2 = follower.pathBuilder()
+                .addPath(new BezierCurve(pickup2, openGate2Control, openGate2))
+                .setLinearHeadingInterpolation(pickup2.getHeading(), openGate2.getHeading())
+                .build();
+
+        openGate2_shoot2 = follower.pathBuilder()
+                .addPath(new BezierCurve(openGate2, shoot2Control, shoot2))
+                .setLinearHeadingInterpolation(openGate2.getHeading(), shoot2.getHeading())
+                .build();
+
+        shoot2_intakeGate = follower.pathBuilder()
+                .addPath(new BezierCurve(shoot2, intakeGateControl, intakeGate))
+                .setLinearHeadingInterpolation(shoot2.getHeading(), intakeGate.getHeading())
+                .build();
+
+        intakeGate_shootGate = follower.pathBuilder()
+                .addPath(new BezierCurve(intakeGate, shootGateControl, shootGate))
+                .setLinearHeadingInterpolation(intakeGate.getHeading(), shootGate.getHeading())
+                .build();
+
+        shootGate_intakeGate = follower.pathBuilder()
+                .addPath(new BezierCurve(shootGate, intakeGateControl, intakeGate))
+                .setLinearHeadingInterpolation(shootGate.getHeading(), intakeGate.getHeading())
+                .build();
+
+        intakeGate_shootLeave = follower.pathBuilder()
+                .addPath(new BezierCurve(intakeGate, shootLeaveControl, shootLeave))
+                .setLinearHeadingInterpolation(intakeGate.getHeading(), shootLeave.getHeading())
+                .build();
+
+        shootGate_leave = follower.pathBuilder()
+                .addPath(new BezierLine(shootGate, leave))
+                .setLinearHeadingInterpolation(shootGate.getHeading(), leave.getHeading())
+                .build();
+
+        intakeGate_awayFromGate = follower.pathBuilder()
+                .addPath(new BezierLine(intakeGate, awayFromGate))
+                .setLinearHeadingInterpolation(intakeGate.getHeading(), awayFromGate.getHeading())
+                .build();
+    }
+
+    //Path State Machine
+    private boolean startAuto = true;
+    private double timeStamp = 0;
+    private int cycle = 0;
+    private void pathStateMachine(){
+        double currentTime = (double) System.currentTimeMillis() / 1000;
+        switch(pathState){
+            case DRIVE_SHOOT0:
+                spindexer.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
+                shooter.setFlywheelVelocity(2300);
+                robot.setHoodPos(0.68);
+                if (startAuto){
+                    follower.followPath(startPose_shoot0, false);
+                    startAuto = false;
+                }
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT0;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT0:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shoot0_pickup1, false);
+                    pathState = PathState.PICKUP1;
+                }
+                break;
+            case PICKUP1:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup1_openGate1, false);
+                    pathState = PathState.OPENGATE1;
+                    timeStamp = currentTime;
+                }
+                break;
+            case OPENGATE1:
+                if (currentTime - timeStamp > openGate1Time){
+                    follower.followPath(openGate1_shoot1, false);
+                    pathState = PathState.DRIVE_SHOOT1;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT1:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT1;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT1:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shoot1_pickup2, false);
+                    pathState = PathState.PICKUP2;
+                }
+                break;
+            case PICKUP2:
+                if (!follower.isBusy()){
+                    follower.followPath(pickup2_openGate2, false);
+                    pathState = PathState.OPENGATE2;
+                    timeStamp = currentTime;
+                }
+                break;
+            case OPENGATE2:
+                if (currentTime - timeStamp > openGate2Time){
+                    follower.followPath(openGate2_shoot2, false);
+                    pathState = PathState.DRIVE_SHOOT2;
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT2:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT2;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT2:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    follower.followPath(shoot2_intakeGate, false);
+                    pathState = PathState.INTAKE_GATE;
+                    timeStamp = currentTime;
+                }
+                break;
+            case INTAKE_GATE:
+                if ((currentTime - timeStamp > openGateWaitTimeMax || (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed()))
+                        && (currentTime - timeStamp > openGateWaitTimeMin)){
+                    if (getRuntime() - runtime > 27){
+                        follower.followPath(intakeGate_awayFromGate, true);
+                        pathState = PathState.WAIT_SHOOT_LEAVE;
+                    } else if (getRuntime() - runtime > 22 || cycle >= maxLoopCycles - 1){
+                        follower.followPath(intakeGate_shootLeave, true);
+                        pathState = PathState.DRIVE_SHOOT_LEAVE;
+                    } else {
+                        follower.followPath(intakeGate_shootGate, false);
+                        pathState = PathState.DRIVE_SHOOT_GATE;
+                    }
+                    timeStamp = currentTime;
+                }
+                // TODO: add logic to shoot gate
+                break;
+            case DRIVE_SHOOT_GATE:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT_GATE;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT_GATE:
+                if (currentTime - timeStamp > rapidShootTime ||
+                        (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
+                                spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
+                    cycle++;
+                    if (getRuntime() - runtime > 24 || cycle >= maxLoopCycles){
+                        follower.followPath(shootGate_leave, true);
+                        pathState = PathState.WAIT_SHOOT_LEAVE;
+                    } else {
+                        follower.followPath(shootGate_intakeGate, false);
+                        pathState = PathState.INTAKE_GATE;
+                    }
+                    timeStamp = currentTime;
+                }
+                break;
+            case DRIVE_SHOOT_LEAVE:
+                if (!follower.isBusy()  && currentTime - timeStamp > rapidWaitTime){
+                    timeStamp = currentTime;
+                    pathState = PathState.WAIT_SHOOT_LEAVE;
+                    spindexer.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                } else if (follower.isBusy()){
+                    timeStamp = currentTime;
+                }
+                break;
+            case WAIT_SHOOT_LEAVE:
+                // add line here to say "done auto"
+                break;
+            default:
+                break;
+        }
+        TELE.addData("Moving?", follower.isBusy());
+    }
+
+    // Used for changing alliance
+    private double adjustXPoseBasedOnAlliance(double pose) {return -pose;}
+    private double adjustHeadingBasedOnAlliance(double heading){
+        heading = 180 - heading;
+        while (heading > 180) {heading-=360;}
+        while (heading <= -180) {heading+=360;}
+        return heading;
+    }
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
+        for (LynxModule hub : allHubs) {
+            hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
+        }
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+        follower = Constants.createFollower(hardwareMap);
+        sleep(1000);
+        follower.setStartingPose(new Pose(0,0,0));
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+        turret = new Turret(robot);
+        flywheel = new Flywheel(robot);
+        commander = new VelocityCommander();
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        spindexer = new SpindexerTransferIntake(robot, TELE, commander);
+        ParkTilter park = new ParkTilter(robot);
+        boolean startAuto = true;
+
+        boolean initializeRobot = false;
+        while (opModeInInit()){
+            follower.update();
+
+            if (gamepad1.squareWasPressed()){
+                robot.setSpinPos(ServoPositions.spindexer_A2);
+                robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Closed);
+                robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+            }
+
+            if (gamepad1.crossWasPressed() && !initializeRobot){
+                Color.redAlliance = !Color.redAlliance;
+                shooter.setRedAlliance(Color.redAlliance);
+            }
+
+            if (!initializeRobot){
+                if ((Color.redAlliance && xPoses[0] < 0)
+                        || (!Color.redAlliance && xPoses[0] > 0)){
+                    for (int i = 0; i < xPoses.length; i++) {xPoses[i] = adjustXPoseBasedOnAlliance(xPoses[i]);}
+                    for (int i = 0; i < headings.length; i++) {headings[i] = adjustHeadingBasedOnAlliance(headings[i]);}
+                }
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                initializeRobot = true;
+                initializePoses();
+                follower.setPose(startPose);
+                buildPaths();
+                sleep(2000);
+                turret.switchPipeline(Turret.PipelineMode.TRACKING);
+                robot.limelight.start();
+                limelightUsed = true;
+                park.unpark();
+            }
+
+            TELE.addData("Red Alliance?", Color.redAlliance);
+            TELE.addData("Initialized Robot? (Don't change this until alliance is selected)", initializeRobot);
+            TELE.addData("Start Pose", follower.getPose());
+            TELE.addData("Current LL Pipeline", turret.pipeline());
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            if (startAuto){
+                runtime = getRuntime();
+                startAuto = false;
+            }
+
+            park.unpark();
+            robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+
+            shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+            shooter.update(robot.voltage.getVoltage());
+
+            if (!isStopRequested()){
+                follower.update();
+            }
+
+            pathStateMachine();
+            TeleopV4.teleStart = follower.getPose();
+
+            spindexer.update();
+
+            for (LynxModule hub : allHubs) {
+                hub.clearBulkCache();
+            }
+            loopTimes.loop();
+
+            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
+            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
+            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("X:", TeleopV4.teleStart.getX());
+            TELE.addData("Y:", TeleopV4.teleStart.getY());
+            TELE.addData("H:", TeleopV4.teleStart.getHeading());
+            TELE.update();
+        }
+    }
+}

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

@@ -1,648 +0,0 @@
-package org.firstinspires.ftc.teamcode.autonomous.actions;
-
-import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Pose2d;
-
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Drivetrain;
-import org.firstinspires.ftc.teamcode.utils.Flywheel;
-import org.firstinspires.ftc.teamcode.utils.Robot;
-import org.firstinspires.ftc.teamcode.utils.Servos;
-import org.firstinspires.ftc.teamcode.utils.Spindexer;
-import org.firstinspires.ftc.teamcode.utils.Targeting;
-import org.firstinspires.ftc.teamcode.utils.Turret;
-
-import java.util.Objects;
-
-public class Actions{
-    Robot robot;
-    MultipleTelemetry TELE;
-    Servos servos;
-    Flywheel flywheel;
-    MecanumDrive drive;
-    Spindexer spindexer;
-    Targeting targeting;
-    Targeting.Settings targetingSettings;
-    Turret turret;
-    private int driverSlotGreen = 0;
-    private int passengerSlotGreen = 0;
-    private int rearSlotGreen = 0;
-    private int mostGreenSlot = 0;
-    private double firstSpindexShootPos = spinStartPos;
-    private boolean shootForward = true;
-    public static double firstShootTime = 0.3;
-    public int motif = 0;
-
-    public Actions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur){
-        this.robot = rob;
-        this.drive = dri;
-        this.TELE = tel;
-        this.servos = ser;
-        this.flywheel = fly;
-        this.spindexer = spi;
-        this.targeting = tar;
-        this.targetingSettings = tS;
-        this.turret = tur;
-    }
-    public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            double spindexerWiggle = 0.01;
-
-            boolean decideGreenSlot = false;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-                servos.setTransferPos(transferServo_out);
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                double robX = drive.localizer.getPose().position.x;
-                double robY = drive.localizer.getPose().position.y;
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robX - goalX;  // delta x from robot to goal
-                double dy = robY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robX, robY, robotHeading, 0.0, turretInterpolate);
-
-                turret.trackGoal(deltaPose);
-
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.addData("motif", motif_id);
-                TELE.update();
-
-                if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
-
-                    spindexerWiggle *= -1.0;
-
-                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
-
-                    spindexer.detectBalls(true, true);
-
-                    if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
-                        driverSlotGreen++;
-                    }
-
-                    if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
-                        passengerSlotGreen++;
-                    }
-
-                    if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
-                        rearSlotGreen++;
-                    }
-
-                    spindexer.setIntakePower(1);
-
-                    decideGreenSlot = true;
-
-                    return true;
-                } else if (decideGreenSlot) {
-
-                    if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
-                        mostGreenSlot = 3;
-                    } else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
-                        mostGreenSlot = 2;
-                    } else {
-                        mostGreenSlot = 1;
-                    }
-
-                    decideGreenSlot = false;
-
-                    if (motif_id == 21) {
-                        if (mostGreenSlot == 1) {
-                            firstSpindexShootPos = spindexer_outtakeBall1;
-                            shootForward = true;
-                        } else if (mostGreenSlot == 2) {
-                            firstSpindexShootPos = spindexer_outtakeBall2;
-                            shootForward = false;
-                        } else {
-                            firstSpindexShootPos = spindexer_outtakeBall3;
-                            shootForward = false;
-                        }
-                    } else if (motif_id == 22) {
-                        if (mostGreenSlot == 1) {
-                            firstSpindexShootPos = spindexer_outtakeBall2;
-                            shootForward = false;
-                        } else if (mostGreenSlot == 2) {
-                            firstSpindexShootPos = spindexer_outtakeBall3;
-                            shootForward = false;
-                        } else {
-                            firstSpindexShootPos = spindexer_outtakeBall2;
-                            shootForward = true;
-                        }
-
-                    } else {
-                        if (mostGreenSlot == 1) {
-                            firstSpindexShootPos = spindexer_outtakeBall3;
-                            shootForward = false;
-                        } else if (mostGreenSlot == 2) {
-                            firstSpindexShootPos = spindexer_outtakeBall3b;
-                            shootForward = true;
-                        } else {
-                            firstSpindexShootPos = spindexer_outtakeBall1;
-                            shootForward = true;
-                        }
-
-                    }
-
-                    return true;
-                } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
-//                    TELE.addData("MostGreenSlot", mostGreenSlot);
-//                    TELE.update();
-                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
-
-                    servos.setSpinPos(firstSpindexShootPos);
-
-                    return true;
-                } else {
-                    return false;
-                }
-
-            }
-        };
-    }
-
-    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
-        return new Action() {
-            int ticker = 1;
-            double stamp = 0.0;
-            double velo = vel;
-            int shooterTicker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                spindexer.setIntakePower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                spindexer.setIntakePower(0);
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                double robX = drive.localizer.getPose().position.x;
-                double robY = drive.localizer.getPose().position.y;
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robX - goalX;  // delta x from robot to goal
-                double dy = robY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robX, robY, robotHeading, 0.0, turretInterpolate);
-
-                turret.trackGoal(deltaPose);
-
-                if ((System.currentTimeMillis() - stamp < shootTime && servos.getSpinPos() < spinEndPos) || shooterTicker == 0) {
-
-                    if (shooterTicker == 0 && !servos.spinEqual(spinStartPos)) {
-                        servos.setSpinPos(spinStartPos);
-                    } else {
-                        servos.setTransferPos(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = servos.getSpinCmdPos();
-                        servos.setSpinPos(prevSpinPos + spindexSpeed);
-                    }
-
-                    return true;
-
-                } else {
-                    servos.setTransferPos(transferServo_out);
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
-
-                    return false;
-
-                }
-
-            }
-        };
-    }
-
-    public Action shootAllAuto(double shootTime, double spindexSpeed) {
-        return new Action() {
-            int ticker = 1;
-
-            double stamp = 0.0;
-
-            double velo = 0.0;
-
-            int shooterTicker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                spindexer.setIntakePower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                spindexer.setIntakePower(0);
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                double robX = drive.localizer.getPose().position.x;
-                double robY = drive.localizer.getPose().position.y;
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robX - goalX;  // delta x from robot to goal
-                double dy = robY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robX, robY, robotHeading, 0.0, turretInterpolate);
-
-                turret.trackGoal(deltaPose);
-
-                if (System.currentTimeMillis() - stamp < shootTime) {
-
-                    if (System.currentTimeMillis() - stamp < firstShootTime) {
-                        servos.setTransferPos(transferServo_out);
-                        servos.setSpinPos(firstSpindexShootPos);
-                    } else {
-                        servos.setTransferPos(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = servos.getSpinCmdPos();
-
-                        if (shootForward) {
-                            servos.setSpinPos(prevSpinPos + spindexSpeed);
-                        } else {
-                            servos.setSpinPos(prevSpinPos - spindexSpeed);
-                        }
-                    }
-
-                    return true;
-
-                } else {
-                    servos.setTransferPos(transferServo_out);
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
-
-                    return false;
-
-                }
-            }
-        };
-    }
-
-    public Action intake(double intakeTime) {
-        return new Action() {
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                spindexer.processIntake();
-                spindexer.setIntakePower(1);
-
-                spindexer.ballCounterLight();
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                TELE.addData("Full?", spindexer.isFull());
-                TELE.update();
-
-                return ((System.currentTimeMillis() - stamp) < (intakeTime * 1000)) && !spindexer.isFull();
-            }
-        };
-    }
-
-    public Action detectObelisk(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance,
-            double turrPos
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                    robot.limelight.pipelineSwitch(1);
-                }
-
-                ticker++;
-                motif = turret.detectObelisk();
-
-                turret.setTurret(turrPos);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                if (shouldFinish){
-                    if (redAlliance){
-                        robot.limelight.pipelineSwitch(4);
-                    } else {
-                        robot.limelight.pipelineSwitch(2);
-                    }
-                    return false;
-                } else {
-                    return true;
-                }
-
-            }
-        };
-    }
-
-    public Action manageFlywheel(
-            double vel,
-            double hoodPos,
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(vel);
-                servos.setHoodPos(hoodPos);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageShooterAuto(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
-
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robotX - goalX;  // delta x from robot to goal
-                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-                turret.trackGoal(deltaPose);
-
-                servos.setHoodPos(targetingSettings.hoodAngle);
-
-                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
-    public Action manageFlywheelAuto(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
-
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robotX - goalX;  // delta x from robot to goal
-                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-                servos.setHoodPos(targetingSettings.hoodAngle);
-
-                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-}
-
-

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

@@ -0,0 +1,718 @@
+package org.firstinspires.ftc.teamcode.autonomous.actions;
+
+import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+import java.util.Objects;
+
+public class AutoActions {
+    Robot robot;
+    MultipleTelemetry TELE;
+    Servos servos;
+    Flywheel flywheel;
+    MecanumDrive drive;
+    Spindexer spindexer;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    Light light;
+    Turret turret;
+    private int driverSlotGreen = 0;
+    private int passengerSlotGreen = 0;
+    private int rearSlotGreen = 0;
+    private int mostGreenSlot = 0;
+    public static double firstSpindexShootPos = spinStartPos;
+    private boolean shootForward = true;
+    public int motif = 0;
+    double spinEndPos = 0.95;
+    private boolean intaking = false;
+    public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
+        this.robot = rob;
+        this.drive = dri;
+        this.TELE = tel;
+        this.servos = ser;
+        this.flywheel = fly;
+        this.spindexer = spi;
+        this.targeting = tar;
+        this.targetingSettings = tS;
+        this.turret = tur;
+        this.light = lig;
+    }
+
+    public Action prepareShootAll(
+            double colorSenseTime,
+            double time,
+            int motif_id,
+            double posX,
+            double posY,
+            double posH
+    ) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+
+            double spindexerWiggle = 0.01;
+
+            boolean decideGreenSlot = false;
+
+            void spin1PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall1;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void reverseSpin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void oddSpin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3b;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                    driverSlotGreen = 0;
+                    passengerSlotGreen = 0;
+                    rearSlotGreen = 0;
+                }
+                ticker++;
+                servos.setTransferPos(transferServo_out);
+                drive.updatePoseEstimate();
+
+                light.setState(StateEnums.LightState.GOAL_LOCK);
+
+                teleStart = drive.localizer.getPose();
+
+                manageShooter.run(telemetryPacket);
+
+                TELE.addData("Most Green Slot", mostGreenSlot);
+                TELE.addData("Driver Slot Greeness", driverSlotGreen);
+                TELE.addData("Passenger Slot Greeness", passengerSlotGreen);
+                TELE.addData("Rear Greeness", rearSlotGreen);
+                TELE.update();
+
+                if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
+
+                    spindexerWiggle *= -1.0;
+
+                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);
+
+
+// Rear Center (Position 1)
+                    double distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+                    if (distanceRearCenter < 52) {
+                        NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+                        double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+                        if (gP1 >= 0.38) {
+                            rearSlotGreen++;
+                        }
+                    }
+
+// Front Driver (Position 2)
+                    double distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+                    if (distanceFrontDriver < 50) {
+                        NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
+                        double gP2 = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
+                        if (gP2 >= 0.4) {
+                            driverSlotGreen++;
+                        }
+                    }
+
+// Front Passenger (Position 3)
+                    double distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+                    if (distanceFrontPassenger < 29) {
+                        NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
+                        double gP3 = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
+                        if (gP3 >= 0.4) {
+                            passengerSlotGreen++;
+                        }
+                    }
+
+                    spindexer.setIntakePower(-0.1);
+
+                    decideGreenSlot = true;
+
+                    return true;
+                } else if (decideGreenSlot) {
+
+                    if (driverSlotGreen >= passengerSlotGreen && driverSlotGreen >= rearSlotGreen) {
+                        mostGreenSlot = 3;
+                    } else if (passengerSlotGreen >= driverSlotGreen && passengerSlotGreen >= rearSlotGreen) {
+                        mostGreenSlot = 2;
+                    } else {
+                        mostGreenSlot = 1;
+                    }
+
+                    decideGreenSlot = false;
+
+                    if (motif_id == 21) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            shootForward = false;
+                            spinEndPos = 0.05;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        }
+                    } else if (motif_id == 22) {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = false;
+                            spinEndPos = 0.03;
+                        }
+
+                    } else {
+                        if (mostGreenSlot == 1) {
+                            firstSpindexShootPos = spindexer_outtakeBall3;
+                            shootForward = false;
+                            spinEndPos = 0.05;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;                        }
+                    }
+
+                    return true;
+                } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
+                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);
+
+                    servos.setSpinPos(firstSpindexShootPos);
+
+                    return true;
+                } else {
+                    return false;
+                }
+
+            }
+        };
+    }
+
+    public Action shootAllAuto(double shootTime, double spindexSpeed, double posX, double posY, double posH) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = servos.getSpinPos() > spinEndPos;
+                } else {
+                    end = servos.getSpinPos() < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {
+
+                    if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
+                        servos.setSpinPos(firstSpindexShootPos);
+                    } else {
+                        servos.setTransferPos(transferServo_in);
+                        shooterTicker++;
+                        Spindexer.whileShooting = true;
+                        if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                            servos.setSpinPos(prevSpinPos + spindexSpeed);
+                        } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                            servos.setSpinPos(prevSpinPos - spindexSpeed);
+                        }
+
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action shootAllManual(
+            double shootTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double spindexSpeed,
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = prevSpinPos > spinEndPos;
+                } else {
+                    end = prevSpinPos < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
+                    servos.setTransferPos(transferServo_in);
+                    shooterTicker++;
+                    Spindexer.whileShooting = true;
+                    if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
+                    } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action intake(
+            double time,
+            double posX,
+            double posY,
+            double posH
+    ) {
+        return new Action() {
+            double stamp = 0.0;
+            int ticker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                }
+                ticker++;
+
+                spindexer.processIntake();
+                spindexer.setIntakePower(1);
+                light.setState(StateEnums.LightState.BALL_COUNT);
+                light.update();
+
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                manageShooter.run(telemetryPacket);
+
+                if ((System.currentTimeMillis() - stamp) > (time * 1000)) {
+                    servos.setSpinPos(spindexer_intakePos1);
+                    intaking = false;
+                    return false;
+                } else {
+                    intaking = true;
+                    return true;
+                }
+            }
+        };
+    }
+
+    private boolean detectingObelisk = false;
+
+    public Action detectObelisk(
+            double time,
+            double posX,
+            double posY,
+            double posXTolerance,
+            double posYTolerance,
+            double turrPos
+    ) {
+
+        boolean timeFallback = (time != 0.501);
+        boolean posXFallback = (posX != 0.501);
+        boolean posYFallback = (posY != 0.501);
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+            int prevMotif = 0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                detectingObelisk = true;
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                    turret.pipelineSwitch(1);
+                    ticker++;
+                }
+
+                motif = turret.detectObelisk();
+
+                if (prevMotif == motif){
+                    ticker++;
+                }
+                prevMotif = motif;
+
+                turret.setTurret(turrPos);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
+                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+
+                boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull() || ticker > 10;
+
+                teleStart = currentPose;
+
+                if (shouldFinish) {
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                    } else {
+                        turret.pipelineSwitch(2);
+                    }
+                    detectingObelisk = false;
+                    return false;
+                } else {
+                    return true;
+                }
+
+            }
+        };
+    }
+
+    public Action manageShooterAuto(
+            double time,
+            double posX,
+            double posY,
+            double posH,
+            boolean flywheelSensor
+    ) {
+
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            final boolean timeFallback = (time != 0.501);
+
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = null; //drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                        light.setManualLightColor(Color.LightRed);
+                    } else {
+                        turret.pipelineSwitch(2);
+                        light.setManualLightColor(Color.LightBlue);
+
+                    }
+                }
+
+                ticker++;
+
+                double robotX = 0.0;//currentPose.position.x;
+                double robotY = 0.0;//currentPose.position.y;
+
+                double robotHeading = 0.0;//currentPose.heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+
+
+                Pose deltaPose;
+                if (posX != 0.501) {
+                    deltaPose = new Pose(posX, posY, Math.toRadians(posH));
+                } else {
+                    deltaPose = new Pose(dx, dy, robotHeading);
+                }
+                Turret.limelightUsed = true;
+
+//                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                targetingSettings = targeting.calculateSettings
+                        (robotX, robotY, robotHeading, 0.0, false);
+
+                if (!detectingObelisk) {
+                    turret.trackGoal(deltaPose);
+                }
+
+                servos.setHoodPos(targetingSettings.hoodAngle);
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
+                boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);
+
+                teleStart = currentPose;
+
+                TELE.addData("Steady?", flywheel.getSteady());
+                TELE.update();
+
+                return !shouldFinish;
+            }
+        };
+    }
+
+    public Action Wait(double time) {
+        return new Action() {
+            boolean ticker = false;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (!ticker) {
+                    stamp = System.currentTimeMillis();
+                    ticker = true;
+                }
+
+                return (System.currentTimeMillis() - stamp < time * 1000);
+
+            }
+        };
+    }
+
+    public Action manageShooterManual(
+            double maxTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr
+    ) {
+        return new Action() {
+
+            double stamp = 0.0;
+            int ticker = 0;
+
+            final boolean timeFallback = (maxTime != 0.501);
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+
+                drive.updatePoseEstimate();
+                Pose2d currentPose = drive.localizer.getPose();
+
+                if (ticker == 0) {
+                    stamp = System.currentTimeMillis();
+                }
+
+                ticker++;
+
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;
+
+                double robotHeading = currentPose.heading.toDouble();
+
+                double goalX = -15;
+                double goalY = 0;
+
+                double dx = robotX - goalX;  // delta x from robot to goal
+                double dy = robotY - goalY;  // delta y from robot to goal
+                Pose deltaPose;
+                if (turr == 0.501) {
+                    deltaPose = new Pose(dx, dy, robotHeading);
+                    if (!detectingObelisk) {
+                        turret.trackGoal(deltaPose);
+                    }
+                } else {
+                    turret.setTurret(turr);
+                }
+
+                servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
+                double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);
+
+                double voltage = robot.voltage.getVoltage();
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);
+
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;
+
+                teleStart = currentPose;
+
+                TELE.addData("Steady?", flywheel.getSteady());
+                TELE.update();
+
+                return !timeDone;
+            }
+        };
+    }
+
+    public Action ShakeDrivetrain(
+            double time
+    ){
+        return new Action() {
+            int ticker = 0;
+            double stamp = 0;
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (ticker == 0){
+                    stamp = System.currentTimeMillis();
+                }
+                ticker++;
+
+                double currentStamp = System.currentTimeMillis();
+                if (currentStamp - stamp < time*1000 && (intaking || ticker < 50)) {
+                    if (ticker % 10000 < 5000) {
+                        robot.frontLeft.setPower(0.5);
+                        robot.backLeft.setPower(0.5);
+                        robot.frontRight.setPower(0.5);
+                        robot.backRight.setPower(0.5);
+                    } else {
+                        robot.frontLeft.setPower(-0.5);
+                        robot.backLeft.setPower(-0.5);
+                        robot.frontRight.setPower(-0.5);
+                        robot.backRight.setPower(-0.5);
+                    }
+                    return true;
+                } else {
+                    robot.frontLeft.setPower(0);
+                    robot.backLeft.setPower(0);
+                    robot.frontRight.setPower(0);
+                    robot.backRight.setPower(0);
+                    return false;
+                }
+            }
+        };
+    }
+}
+
+

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

@@ -72,6 +72,7 @@ import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
+import com.pedropathing.geometry.Pose;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
@@ -84,9 +85,7 @@ import org.firstinspires.ftc.teamcode.utils.Spindexer;
 import org.firstinspires.ftc.teamcode.utils.Targeting;
 import org.firstinspires.ftc.teamcode.utils.Turret;
 
-@Disabled
+
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
 public class Auto_LT_Close_12Ball extends LinearOpMode {
     public static double shoot0Vel = 2300, shoot0Hood = 0.93;
     public static double autoSpinStartPos = 0.2;
@@ -489,7 +488,7 @@ public class Auto_LT_Close_12Ball extends LinearOpMode {
 
                 double dx = robotX - goalX;  // delta x from robot to goal
                 double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+                Pose deltaPose = new Pose(dx, dy, robotHeading);
 
                 double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 

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

@@ -77,6 +77,7 @@ import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.TranslationalVelConstraint;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.ftc.Actions;
+import com.pedropathing.geometry.Pose;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
@@ -92,9 +93,7 @@ import org.firstinspires.ftc.teamcode.utils.Turret;
 
 import java.util.Objects;
 
-@Disabled
+
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
 public class Auto_LT_Close_GateOpen extends LinearOpMode {
     public static double shoot0Vel = 2300, shoot0Hood = 0.93;
     public static double autoSpinStartPos = 0.2;
@@ -628,7 +627,7 @@ public class Auto_LT_Close_GateOpen extends LinearOpMode {
 
                 double dx = robotX - goalX;  // delta x from robot to goal
                 double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+                Pose deltaPose = new Pose(dx, dy, robotHeading);
 
                 double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 

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

@@ -82,9 +82,7 @@ import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 
 import java.util.List;
-@Disabled
+
-@Config
-@Autonomous(preselectTeleOp = "TeleopV3")
 public class ProtoAutoClose_V3 extends LinearOpMode {
     public static double intake1Time = 2.7;
     public static double intake2Time = 3.0;

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

@@ -1,23 +1,35 @@
 package org.firstinspires.ftc.teamcode.constants;
 
 import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.Pose2d;
 
 @Config
 public class Back_Poses {
-    public static double rLeaveX = 90, rLeaveY = 80, rLeaveH = 50.1;
+    public static double rLeaveX = 90, rLeaveY = 50, rLeaveH = 50.1;
-    public static double bLeaveX = 90, bLeaveY = -80, bLeaveH = -50;
+    public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50;
 
-    public static double rShootX = 95, rShootY = 85, rShootH = 90;
+    public static double rShootX = 100, rShootY = 60, rShootH = 125.2;
-    public static double bShootX = 95, bShootY = -85, bShootH = -90;
+    public static double bShootX = 100, bShootY = -60, bShootH = -125.2;
 
-    public static double rStackPickupAX = 75, rStackPickupAY = 53, rStackPickupAH = 140;
+    public static double rStackPickupFarAX = 75, rStackPickupFarAY = 45, rStackPickupFarAH = 150;
-    public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;
+    public static double bStackPickupFarAX = 75, bStackPickupFarAY = -45, bStackPickupFarAH = -150;
 
-    public static double rStackPickupBX = 50, rStackPickupBY = 78, rStackPickupBH = 140.1;
+    public static double rStackPickupFarBX = 45, rStackPickupFarBY = 80, rStackPickupFarBH = 145.1;
-    public static double bStackPickupBX = 50, bStackPickupBY = -78, bStackPickupBH = -140.1;
+    public static double bStackPickupFarBX = 45, bStackPickupFarBY = -80, bStackPickupFarBH = -145.1;
 
-    public static Pose2d autoStart = new Pose2d(0, 0, 0); // TODO: find this position
+    public static double rStackPickupMiddleAX = 55, rStackPickupMiddleAY = 39, rStackPickupMiddleAH = 145;
+    public static double bStackPickupMiddleAX = 55, bStackPickupMiddleAY = -39, bStackPickupMiddleAH = -145;
 
+    public static double rStackPickupMiddleBX = 45, rStackPickupMiddleBY = 49, rStackPickupMiddleBH = 145.1;
+    public static double bStackPickupMiddleBX = 45, bStackPickupMiddleBY = -49, bStackPickupMiddleBH = -145.1;
+
+    public static double rPickupGateXA = 60, rPickupGateYA = 90, rPickupGateHA = 140;
+    public static double bPickupGateXA = 60, bPickupGateYA = -90, bPickupGateHA = -140;
+    public static double rPickupGateXB = 84, rPickupGateYB = 76, rPickupGateHB = 145;
+    public static double bPickupGateXB = 84, bPickupGateYB = -76, bPickupGateHB = -145;
+    public static double rPickupGateXC = 50, rPickupGateYC = 83, rPickupGateHC = 190;
+    public static double bPickupGateXC = 50, bPickupGateYC = -83, bPickupGateHC = -190;
+
+    public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 54;
+    public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -54;
 
 }

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

@@ -7,40 +7,65 @@ import com.acmerobotics.roadrunner.Pose2d;
 public class Front_Poses {
 
 
-    public static double rx1 = 20, ry1 = 0.5, rh1 = 0.1;
+    public static double rx1 = 30, ry1 = 5, rh1 = 0.1;
-    public static double bx1 = 20, by1 = 0.5, bh1 = 0.1;
+    public static double bx1 = 30, by1 = -5, bh1 = -0.1;
 
     public static double rx2a = 41, ry2a = 18, rh2a = 140;
     public static double bx2a = 41, by2a = -18, bh2a = -140;
 
-    public static double rx2b = 23, ry2b = 36, rh2b = 140.1;
+    public static double rx2b = 21, ry2b = 34, rh2b = 140.1;
-    public static double bx2b = 19, by2b = -40, bh2b = -140.1;
+    public static double bx2b = 23, by2b = -34, bh2b = -140.1;
 
     public static double rx3a = 55, ry3a = 39, rh3a = 140;
     public static double bx3a = 55, by3a = -39, bh3a = -140;
 
     public static double rx3aG = 60, ry3aG = 34, rh3aG = 140;
-    public static double bx3aG = 55, by3aG = -43, bh3aG = -140;
+    public static double bx3aG = 60, by3aG = -34, bh3aG = -140;
 
     public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
-    public static double bx3b = 41, by3b = -59, bh3b = -140.1;
+    public static double bx3b = 36, by3b = -58, bh3b = -140.1;
 
     public static double rx4a = 75, ry4a = 53, rh4a = 140;
     public static double bx4a = 75, by4a = -53, bh4a = -140;
 
     public static double rx4b = 50, ry4b = 78, rh4b = 140.1;
-    public static double bx4b = 47, by4b = -85, bh4b = -140.1;
+    public static double bx4b = 50, by4b = -78, bh4b = -140.1;
 
     public static double rfx1 = 10, rfy1 = 0, rfh1 = 0;
 
-    public static double rShootX = 40, rShootY = 10, rShootH = 50;
+    public static double rShootX = 60, rShootY = 10, rShootH = 50;
-    public static double bShootX = 40, bShootY = 0, bShootH = -50;
+    public static double bShootX = 60, bShootY = -10, bShootH = -50;
 
     public static double rxPrep = 45, ryPrep = 10, rhPrep = 50;
     public static double bxPrep = 45, byPrep = -10, bhPrep = -50;
 
-    public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 50;
+    public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 55;
-    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -50;
+    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -55;
+
+    public static double rShoot0X = 53, rShoot0Y = 10.1, rShoot0H = 80.1;
+    public static double bShoot0X = 53, bShoot0Y = -10.1, bShoot0H = -80.1;
+
+    public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
+    public static double bShootGateX = 50, bShootGateY = -10, bShootGateH = -90;
+
+    public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
+    public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
+
+    public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
+    public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
+
+    public static double rPickupGateBX = 38, rPickupGateBY = 62, rPickupGateBH = 210;
+    public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
+    public static double pickupGateCX = 34, pickupGateCY = 58, pickupGateCH = 220;
+
+    public static double rOpenGateCloseX = 20, rOpenGateCloseY = 35, rOpenGateCloseH = 230;
+    public static double bOpenGateCloseX = 20, bOpenGateCloseY = -35, bOpenGateCloseH = -230;
+
+    public static double rOpenGateMiddleX = 36, rOpenGateMiddleY = 59, rOpenGateMiddleH = 50;
+    public static double bOpenGateMiddleX = 36, bOpenGateMiddleY = -59, bOpenGateMiddleH = -50;
 
     public static Pose2d teleStart = new Pose2d(0, 0, 0);
+
+    //For PedroPathing TODO: figure out how to change start poses in auto
+    public static double teleStartPoseX = 72, teleStartPoseY = 72, teleStartPoseH = 0;
 }

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

@@ -5,41 +5,62 @@ import com.acmerobotics.dashboard.config.Config;
 @Config
 public class ServoPositions {
 
-    public static double spindexer_intakePos1 = 0.07; //0.13;
+    public static double rapidFireBlocker_Closed = 0.32;
+    public static double rapidFireBlocker_Open = 0.5;
 
-    public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
+    public static double spindexBlocker_Closed = 0.31;
+    public static double spindexBlocker_Open = 0.5;
 
-    public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
+    public static double spindexer_A1 = 0.16;
+    public static double spindexer_A2 = 0.35;
+    public static double spindexer_A3 = 0.54;
+    public static double spindexer_B1 = 0.73;
+    public static double spindexer_B2 = 0.92;
 
-    public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
-    public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
 
-    public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
+    public static double spindexer_intakePos1 = 0.18; //0.13;
-    public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
-    public static double spinStartPos = 0.22;
-    public static double spinEndPos = 0.85;
 
-    public static double shootAllSpindexerSpeedIncrease = 0.014;
+    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;
 
-    public static double transferServo_out = 0.15;
+    public static double spindexer_intakePos3 = 0.55; //0.53;//0.66;
 
-    public static double transferServo_in = 0.38;
+    public static double spindexer_outtakeBall3 = 0.83; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.27; //0.65; //0.24;
+
+    public static double spindexer_outtakeBall2 = 0.65; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.46; //0.27; //0.4;
+    public static double spinStartPos = 0;
+    public static double spinEndPos = 0.6;
+
+    public static double shootAllSpindexerSpeedIncrease = 0.01;
+
+    public static double transferServo_out = 0.28;
+
+    public static double transferServo_in = 0.54;
 
     public static double hoodAuto = 0.27;
 
-    public static double hoodOffset = -0.05;
+    public static double hoodOffset = 0; // offset from 0.93 (or position at 0,0 in targeting class)
 
-    public static double turret_redClose = 0.42;
+    public static double turret_redClose = 0;
-    public static double turret_blueClose = 0.38;
+    public static double turret_blueClose = 0;
 
     // These values are ADDED to turrDefault
-    public static double redObeliskTurrPos1 = 0.12;
+    public static double redObeliskTurrPos0 = -0.35;
-    public static double redObeliskTurrPos2 = 0.13;
+    public static double redObeliskTurrPos1 = 0.15;
-    public static double redObeliskTurrPos3 = 0.14;
+    public static double redObeliskTurrPos2 = 0.16;
-    public static double blueObeliskTurrPos1 = -0.12;
+    public static double redObeliskTurrPos3 = 0.17;
-    public static double blueObeliskTurrPos2 = -0.13;
+    public static double blueObeliskTurrPos0 = 0.35;
-    public static double blueObeliskTurrPos3 = -0.14;
+    public static double blueObeliskTurrPos1 = -0.15;
-    public static double redTurretShootPos = 0.1;
+    public static double blueObeliskTurrPos2 = -0.16;
-    public static double blueTurretShootPos = -0.14;
+    public static double blueObeliskTurrPos3 = -0.17;
+    public static double redTurretShootPos = 0.05;
+    public static double blueTurretShootPos = -0.05;
+
+    public static double tilt1_down = 0.6;
+    public static double tilt2_down = 0.4;
+    public static double tilt1_up = 0.08;
+    public static double tilt2_up = 0.97;
+
 
 }

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

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

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

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/pedroPathing/Constants.java

@@ -1,19 +0,0 @@
-package org.firstinspires.ftc.teamcode.libs.pedroPathing;
-
-import com.pedropathing.follower.Follower;
-import com.pedropathing.follower.FollowerConstants;
-import com.pedropathing.ftc.FollowerBuilder;
-import com.pedropathing.paths.PathConstraints;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-public class Constants {
-    public static FollowerConstants followerConstants = new FollowerConstants();
-
-    public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, 1, 1);
-
-    public static Follower createFollower(HardwareMap hardwareMap) {
-        return new FollowerBuilder(followerConstants, hardwareMap)
-                .pathConstraints(pathConstraints)
-                .build();
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java

@@ -0,0 +1,66 @@
+package org.firstinspires.ftc.teamcode.pedroPathing;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.pedropathing.control.FilteredPIDFCoefficients;
+import com.pedropathing.control.PIDFCoefficients;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.follower.FollowerConstants;
+import org.firstinspires.ftc.teamcode.pedroPathing.FollowerBuilder;
+import com.pedropathing.ftc.drivetrains.MecanumConstants;
+import com.pedropathing.ftc.localization.constants.PinpointConstants;
+import com.pedropathing.paths.PathConstraints;
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+@Config
+public class Constants {
+    public static FollowerConstants followerConstants = new FollowerConstants()
+            .mass(14.37888)
+            .forwardZeroPowerAcceleration(-30.322)
+            .lateralZeroPowerAcceleration(-60.876)
+            .translationalPIDFCoefficients(new PIDFCoefficients(0.15, 0, 0.015, 0.02))
+            .headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02))
+            .drivePIDFCoefficients(new FilteredPIDFCoefficients(0.013, 0, 0.00001, 0.6, 0.015))
+            .centripetalScaling(0.0005);
+
+    public static MecanumConstants driveConstants = new MecanumConstants()
+            .maxPower(1)
+            .rightFrontMotorName("fr")
+            .rightRearMotorName("br")
+            .leftRearMotorName("bl")
+            .leftFrontMotorName("fl")
+            .leftFrontMotorDirection(DcMotorSimple.Direction.REVERSE)
+            .leftRearMotorDirection(DcMotorSimple.Direction.REVERSE)
+            .rightFrontMotorDirection(DcMotorSimple.Direction.FORWARD)
+            .rightRearMotorDirection(DcMotorSimple.Direction.FORWARD)
+            .xVelocity(84.376)
+            .yVelocity(64.052);
+
+    public static double breakingStrength = 1;
+    public static PathConstraints pathConstraints = new PathConstraints(0.99, 100, breakingStrength, 1);
+
+    public static PinpointConstants localizerConstants = new PinpointConstants()
+            .forwardPodY(-3.7795)
+            .strafePodX(-3.769)
+            .distanceUnit(DistanceUnit.INCH)
+            .hardwareMapName("pinpoint")
+            .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
+            .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.REVERSED)
+            .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD);
+
+    public static Follower createFollower(HardwareMap hardwareMap) {
+        FollowerBuilder followerBuilder;
+        followerBuilder = new FollowerBuilder(followerConstants, hardwareMap)
+                .pathConstraints(pathConstraints)
+                .mecanumDrivetrain(driveConstants)
+                .pinpointLocalizer(localizerConstants);
+
+        followerBuilder.resetPinpoint();
+        followerBuilder.recalibrateIMU();
+
+        return followerBuilder.build();
+
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/FollowerBuilder.java

@@ -0,0 +1,106 @@
+package org.firstinspires.ftc.teamcode.pedroPathing;
+import com.pedropathing.drivetrain.Drivetrain;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.follower.FollowerConstants;
+import com.pedropathing.ftc.drivetrains.*;
+import com.pedropathing.ftc.localization.constants.DriveEncoderConstants;
+import com.pedropathing.ftc.localization.constants.OTOSConstants;
+import com.pedropathing.ftc.localization.constants.PinpointConstants;
+import com.pedropathing.ftc.localization.constants.ThreeWheelConstants;
+import com.pedropathing.ftc.localization.constants.ThreeWheelIMUConstants;
+import com.pedropathing.ftc.localization.constants.TwoWheelConstants;
+import com.pedropathing.ftc.localization.localizers.DriveEncoderLocalizer;
+import com.pedropathing.ftc.localization.localizers.OTOSLocalizer;
+import com.pedropathing.ftc.localization.localizers.PinpointLocalizer;
+import com.pedropathing.ftc.localization.localizers.ThreeWheelIMULocalizer;
+import com.pedropathing.ftc.localization.localizers.ThreeWheelLocalizer;
+import com.pedropathing.ftc.localization.localizers.TwoWheelLocalizer;
+import com.pedropathing.localization.Localizer;
+import com.pedropathing.paths.PathConstraints;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+/** This is the FollowerBuilder.
+ * It is used to create Followers with a specific drivetrain + localizer without having to use a full constructor
+ *
+ * @author Baron Henderson - 20077 The Indubitables
+ */
+public class FollowerBuilder {
+    private final FollowerConstants constants;
+    private PathConstraints constraints;
+    private final HardwareMap hardwareMap;
+    private Localizer localizer;
+    private Drivetrain drivetrain;
+
+    public FollowerBuilder(FollowerConstants constants, HardwareMap hardwareMap) {
+        this.constants = constants;
+        this.hardwareMap = hardwareMap;
+        constraints = PathConstraints.defaultConstraints;
+    }
+
+    public FollowerBuilder setLocalizer(Localizer localizer) {
+        this.localizer = localizer;
+        return this;
+    }
+
+    public FollowerBuilder driveEncoderLocalizer(DriveEncoderConstants lConstants) {
+        return setLocalizer(new DriveEncoderLocalizer(hardwareMap, lConstants));
+    }
+
+    public FollowerBuilder OTOSLocalizer(OTOSConstants lConstants) {
+        return setLocalizer(new OTOSLocalizer(hardwareMap, lConstants));
+    }
+
+    PinpointLocalizer pinpointLocalizer;
+    public FollowerBuilder pinpointLocalizer(PinpointConstants lConstants) {
+        pinpointLocalizer = new PinpointLocalizer(hardwareMap, lConstants);
+        return setLocalizer(pinpointLocalizer);
+    }
+
+    public void resetPinpoint(){
+        pinpointLocalizer.resetIMU();
+    }
+
+    public void recalibrateIMU(){
+        pinpointLocalizer.recalibrate();
+    }
+
+    public FollowerBuilder threeWheelIMULocalizer(ThreeWheelIMUConstants lConstants) {
+        return setLocalizer(new ThreeWheelIMULocalizer(hardwareMap, lConstants));
+    }
+
+    public FollowerBuilder threeWheelLocalizer(ThreeWheelConstants lConstants) {
+        return setLocalizer(new ThreeWheelLocalizer(hardwareMap, lConstants));
+    }
+
+    public FollowerBuilder twoWheelLocalizer(TwoWheelConstants lConstants) {
+        return setLocalizer(new TwoWheelLocalizer(hardwareMap, lConstants));
+    }
+
+    public FollowerBuilder setDrivetrain(Drivetrain drivetrain) {
+        this.drivetrain = drivetrain;
+        return this;
+    }
+
+    public FollowerBuilder mecanumDrivetrain(MecanumConstants mecanumConstants) {
+        return setDrivetrain(new Mecanum(hardwareMap, mecanumConstants));
+    }
+
+    @Deprecated
+    public FollowerBuilder mecanumExDrivetrain(MecanumConstants mecanumConstants) {
+        return setDrivetrain(new MecanumEx(hardwareMap, mecanumConstants));
+    }
+
+    public FollowerBuilder swerveDrivetrain(SwerveConstants swerveConstants, SwervePod... pods) {
+        return setDrivetrain(new Swerve(hardwareMap, swerveConstants, pods));
+    }
+
+    public FollowerBuilder pathConstraints(PathConstraints pathConstraints) {
+        this.constraints = pathConstraints;
+        PathConstraints.setDefaultConstraints(pathConstraints);
+        return this;
+    }
+
+    public Follower build() {
+        return new Follower(constants, localizer, drivetrain, constraints);
+    }
+}

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

@@ -1,8 +1,10 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
-import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
@@ -10,15 +12,16 @@ import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
 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.controller.PIDFController;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.constants.Color;
 import org.firstinspires.ftc.teamcode.constants.StateEnums;
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
 import org.firstinspires.ftc.teamcode.utils.Drivetrain;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
 import org.firstinspires.ftc.teamcode.utils.Light;
@@ -34,53 +37,57 @@ import java.util.List;
 @Config
 @TeleOp
 public class TeleopV3 extends LinearOpMode {
+    private double metersToInches = 39.3700787402;
     public static double manualVel = 3000;
     public static double hoodDefaultPos = 0.5;
-
+    private double predictedResetX, predictedResetY, predictedResetH;
+    public static double redPredictedResetX = 9, redPredictedResetY = 10.25, redPredictedResetH = 0;
+    public static double bluePredictedResetX = 135.0, bluePredictedResetY = 9, bluePredictedResetH = 180;
     public static double spinPow = 0.09;
     public static double tp = 0.8, ti = 0.001, td = 0.0315, tf = 0;
-    public static double spinSpeedIncrease = 0.03;
+    public static int resetSpinTicks = 0;
-    public static int resetSpinTicks = 4;
     public static double hoodSpeedOffset = 0.01;
     public static double turretSpeedOffset = 0.01;
     public double vel = 3000;
     public boolean autoVel = true;
     public boolean targetingHood = true;
-    public boolean autoHood = true;
+    //    public boolean autoHood = true;
     public double shootStamp = 0.0;
-    boolean fixedTurret = false;
+    //    boolean fixedTurret = false;
     Robot robot;
     MultipleTelemetry TELE;
     Light light;
     Servos servo;
     Flywheel flywheel;
-    MecanumDrive drive;
+//    MecanumDrive drive;
     Spindexer spindexer;
     Targeting targeting;
     Targeting.Settings targetingSettings;
     Drivetrain drivetrain;
     MeasuringLoopTimes loopTimes;
+    Follower follower;
     double autoHoodOffset = 0.0;
     int shooterTicker = 0;
     boolean intake = false;
     boolean reject = false;
     double xOffset = 0.0;
     double yOffset = 0.0;
-    double headingOffset = 0.0;
+    double hOffset = 0.0;
+    //    double headingOffset = 0.0;
     int ticker = 0;
 
-    boolean autoSpintake = false;
+    //    boolean autoSpintake = false;
     boolean enableSpindexerManager = true;
 
-    boolean overrideTurr = false;
+//    boolean overrideTurr = false;
 
     int intakeTicker = 0;
     private boolean shootAll = false;
+    public static boolean relocalize = false;
 
     @Override
     public void runOpMode() throws InterruptedException {
         robot = new Robot(hardwareMap);
-        robot.light.setPosition(0);
         List<LynxModule> allHubs = hardwareMap.getAll(LynxModule.class);
 
         for (LynxModule hub : allHubs) {
@@ -90,12 +97,15 @@ public class TeleopV3 extends LinearOpMode {
         TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
         servo = new Servos(hardwareMap);
         flywheel = new Flywheel(hardwareMap);
-        drive = new MecanumDrive(hardwareMap, teleStart);
+//        drive = new MecanumDrive(hardwareMap, teleStart);
+        follower = Constants.createFollower(hardwareMap);
+        Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
+        follower.setStartingPose(start);
         spindexer = new Spindexer(hardwareMap);
         targeting = new Targeting();
         targetingSettings = new Targeting.Settings(0.0, 0.0);
 
-        drivetrain = new Drivetrain(robot, drive);
+        drivetrain = new Drivetrain(robot, follower);
 
         loopTimes = new MeasuringLoopTimes();
         loopTimes.init();
@@ -111,23 +121,36 @@ public class TeleopV3 extends LinearOpMode {
 
         light.setState(StateEnums.LightState.MANUAL);
         limelightUsed = true;
+        Spindexer.teleop = true;
 
-        robot.light.setPosition(1);
         while (opModeInInit()) {
+            //ONLY FOR TESTING: COMMENT OUT FOR COMPETITIONS
+            if (gamepad1.crossWasPressed()){
+                redAlliance = !redAlliance;
+            }
+
             robot.limelight.start();
             if (redAlliance) {
-                robot.limelight.pipelineSwitch(4);
+                turret.pipelineSwitch(4);
                 light.setManualLightColor(Color.LightRed);
+                predictedResetX = redPredictedResetX;
+                predictedResetY = redPredictedResetY;
+                predictedResetH = Math.toRadians(redPredictedResetH);
             } else {
-                robot.limelight.pipelineSwitch(2);
+                turret.pipelineSwitch(2);
                 light.setManualLightColor(Color.LightBlue);
-
+                predictedResetX = bluePredictedResetX;
+                predictedResetY = bluePredictedResetY;
+                predictedResetH = Math.toRadians(bluePredictedResetH);
             }
+            limelightUsed = true;
+
+            TELE.addData("Red Alliance?", redAlliance);
+            TELE.update();
 
             light.update();
         }
 
-        limelightUsed = true;
 
         waitForStart();
         if (isStopRequested()) return;
@@ -138,6 +161,62 @@ public class TeleopV3 extends LinearOpMode {
         while (opModeIsActive()) {
 
             //TELE.addData("Is limelight on?", robot.limelight.getStatus());
+            follower.update();
+            Pose currentPose = follower.getPose();
+
+            if (enableSpindexerManager) {
+                //if (!shootAll) {
+                spindexer.processIntake();
+                //}
+
+                // RIGHT_BUMPER
+                if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
+                    spindexer.setIntakePower(1);
+                } else if (gamepad1.cross) {
+                    spindexer.setIntakePower(-1);
+                } else {
+                    spindexer.setIntakePower(0);
+                }
+
+                // LEFT_BUMPER
+                if (!shootAll && gamepad1.leftBumperWasReleased()) {
+                    shootStamp = getRuntime();
+                    shootAll = true;
+
+                    shooterTicker = 0;
+
+                }
+                intakeTicker++;
+                if (shootAll) {
+                    intakeTicker = 0;
+                    intake = false;
+                    reject = false;
+
+                    if (shooterTicker == 0) {
+                        spindexer.prepareShootAllContinous();
+                        //TELE.addLine("preparing to shoot");
+//                    } else if (shooterTicker == 2) {
+//                        //servo.setTransferPos(transferServo_in);
+//                        spindexer.shootAll();
+//                        TELE.addLine("starting to shoot");
+                    } else if (spindexer.shootAllComplete()) {
+                        //spindexPos = spindexer_intakePos1;
+                        shootAll = false;
+                        spindexer.resetSpindexer();
+                        //spindexer.processIntake();
+                        //TELE.addLine("stop shooting");
+                    }
+                    shooterTicker++;
+                    //spindexer.processIntake();
+                }
+
+                if (gamepad1.left_stick_button) {
+//                    servo.setTransferPos(transferServo_out);
+                    //spindexPos = spindexer_intakePos1;
+                    shootAll = false;
+                    spindexer.resetSpindexer();
+                }
+            }
 
             //DRIVETRAIN:
 
@@ -155,35 +234,55 @@ public class TeleopV3 extends LinearOpMode {
 
                 light.setState(StateEnums.LightState.BALL_COUNT);
 
-            } else if (gamepad2.triangle){
+                //} else if (gamepad2.triangle){
-                light.setState(StateEnums.LightState.BALL_COLOR);
+                //light.setState(StateEnums.LightState.BALL_COLOR);
 
-            }  else {
+                //}
-                light.setState(StateEnums.LightState.GOAL_LOCK);
+            } else {
+                light.setState(StateEnums.LightState.BALL_COUNT);
             }
 
             //TURRET TRACKING
 
-            double robX = drive.localizer.getPose().position.x;
+            double robX = currentPose.getX();
-            double robY = drive.localizer.getPose().position.y;
+            double robY = currentPose.getY();
+            double robH = currentPose.getHeading();
 
-            double robotX = robX - xOffset;
+            double robotX = robX + xOffset;
-            double robotY = robY - yOffset;
+            double robotY = robY + yOffset;
-            double robotHeading = drive.localizer.getPose().heading.toDouble();
+            double robotHeading = robH + hOffset;
 
-            double goalX = -15;
+//            double goalX = -15;
-            double goalY = 0;
+//            double goalY = 0;
+//
+//            double dx = robotX - goalX;  // delta x from robot to goal
+//            double dy = robotY - goalY;  // delta y from robot to goal
+//            Pose deltaPose = new Pose(dx, dy, robotHeading);
+            Pose deltaPose = new Pose(robotX, robotY, robotHeading);
 
-            double dx = robotX - goalX;  // delta x from robot to goal
+//            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-            double dy = robotY - goalY;  // delta y from robot to goal
-            Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 
             targetingSettings = targeting.calculateSettings
                     (robotX, robotY, robotHeading, 0.0, turretInterpolate);
 
-            turret.trackGoal(deltaPose);
+            //RELOCALIZATION
+
+            if (gamepad2.triangleWasPressed()){
+                relocalize = !relocalize;
+                gamepad2.rumble(500);
+            }
+
+            if (relocalize){
+                turret.relocalize();
+                xOffset = ((turret.getLimelightY()*metersToInches)+72) - robX;
+                yOffset = (72-(turret.getLimelightX()*metersToInches)) - robY;
+                hOffset = (Math.toRadians(turret.getLimelightH() + 90));
+                while (hOffset > 180) {hOffset-=360;}
+                while (hOffset < -180) {hOffset+=360;}
+                hOffset = hOffset - robH;
+            } else {
+                turret.trackGoal(deltaPose);
+            }
 
             //VELOCITY AUTOMATIC
             if (autoVel) {
@@ -210,7 +309,7 @@ public class TeleopV3 extends LinearOpMode {
 
             //SHOOTER:
             double voltage = robot.voltage.getVoltage();
-            flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
             flywheel.manageFlywheel(vel);
 
             //HOOD:
@@ -247,72 +346,19 @@ public class TeleopV3 extends LinearOpMode {
             }
 
             if (gamepad2.crossWasPressed()) {
-                drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+//                drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+                follower.setPose(new Pose(predictedResetX, predictedResetY, predictedResetH));
+                gamepad2.rumble(200);
+                sleep(500);
             }
 
-
+            if (gamepad2.squareWasPressed()){
-
+                shootAllSpindexerSpeedIncrease = shootAllSpindexerSpeedIncrease-0.01;
-            if (enableSpindexerManager) {
+            } else if (gamepad2.circleWasPressed()){
-                //if (!shootAll) {
+                shootAllSpindexerSpeedIncrease = shootAllSpindexerSpeedIncrease+0.01;
-                spindexer.processIntake();
-                //}
-
-                // RIGHT_BUMPER
-                if (gamepad1.right_bumper && intakeTicker > resetSpinTicks) {
-                    spindexer.setIntakePower(1);
-                } else if (gamepad1.cross) {
-                    spindexer.setIntakePower(-1);
-
-                } else {
-                    spindexer.setIntakePower(0);
-                }
-
-                // LEFT_BUMPER
-                if (!shootAll && gamepad1.leftBumperWasReleased()) {
-                    shootStamp = getRuntime();
-                    shootAll = true;
-
-                    shooterTicker = 0;
-
-                }
-                intakeTicker++;
-                if (shootAll) {
-                    intakeTicker = 0;
-                    intake = false;
-                    reject = false;
-
-                    if (shooterTicker == 0) {
-                        spindexer.prepareShootAllContinous();
-                        //TELE.addLine("preparing to shoot");
-//                    } else if (shooterTicker == 2) {
-//                        //servo.setTransferPos(transferServo_in);
-//                        spindexer.shootAll();
-//                        TELE.addLine("starting to shoot");
-                    } else if (!spindexer.shootAllComplete()) {
-                        servo.setTransferPos(transferServo_in);
-                        //TELE.addLine("shoot");
-                    } else {
-                        servo.setTransferPos(transferServo_out);
-                        //spindexPos = spindexer_intakePos1;
-                        shootAll = false;
-                        spindexer.resetSpindexer();
-                        //spindexer.processIntake();
-                        //TELE.addLine("stop shooting");
-                    }
-                    shooterTicker++;
-                    //spindexer.processIntake();
-                }
-
-                if (gamepad1.left_stick_button) {
-                    servo.setTransferPos(transferServo_out);
-                    //spindexPos = spindexer_intakePos1;
-                    shootAll = false;
-                    spindexer.resetSpindexer();
-                }
             }
 
             //EXTRA STUFFINESS:
-            drive.updatePoseEstimate();
 
             for (LynxModule hub : allHubs) {
                 hub.clearBulkCache();
@@ -345,18 +391,22 @@ public class TeleopV3 extends LinearOpMode {
             // Targeting Debug
             TELE.addData("robotX", robotX);
             TELE.addData("robotY", robotY);
-            TELE.addData("robotInchesX", targeting.robotInchesX);
+            TELE.addData("robot H", robotHeading);
-            TELE.addData("robotInchesY", targeting.robotInchesY);
+//            TELE.addData("robotInchesX", targeting.robotInchesX);
-            TELE.addData("Targeting Interpolate", turretInterpolate);
+//            TELE.addData("robotInchesY", targeting.robotInchesY);
+//            TELE.addData("Targeting Interpolate", turretInterpolate);
             TELE.addData("Targeting GridX", targeting.robotGridX);
             TELE.addData("Targeting GridY", targeting.robotGridY);
-            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+//            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
-            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
+//            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
-            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
+//            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
             TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
             TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
             TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+//            TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
+//            TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
+//            TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));
 
             TELE.update();
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java

@@ -0,0 +1,241 @@
+package org.firstinspires.ftc.teamcode.teleop;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utils.MeasuringLoopTimes;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+
+import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed;
+
+@TeleOp
+@Config
+public class TeleopV4 extends LinearOpMode {
+    Robot robot;
+    Drivetrain drivetrain;
+    Shooter shooter;
+    MultipleTelemetry TELE;
+    Follower follower;
+    SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+    ParkTilter parkTilter;
+    MeasuringLoopTimes loopTimes;
+
+    public static Pose relocalizePose = new Pose(56, 11, 0);
+    public static Pose teleStart = new Pose(0,0,0);
+
+    private boolean firstTickFull = true;
+    private boolean intakeFull = true;
+    private boolean shooting = false;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot.resetInstance();
+
+        robot = Robot.getInstance(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(), telemetry
+        );
+
+        commander = new VelocityCommander();
+        drivetrain = new Drivetrain(robot, TELE);
+        follower = Constants.createFollower(hardwareMap);
+        follower.setStartingPose(teleStart);
+        sleep(500);
+        follower.setPose(teleStart);
+        follower.update();
+
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+        parkTilter = new ParkTilter(robot);
+        parkTilter.unpark();
+
+        loopTimes = new MeasuringLoopTimes();
+        loopTimes.init();
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        shooter.setState(Shooter.ShooterState.TRACK_GOAL);
+        shooter.setRedAlliance(Color.redAlliance);
+        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
+        spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
+
+        turret.switchPipeline(Turret.PipelineMode.TRACKING);
+        robot.limelight.start();
+
+        limelightUsed = true;
+
+        TELE.addLine("Initialization is done");
+        TELE.addData("Starting Position", follower.getPose());
+        TELE.addData("TELE START", teleStart);
+        TELE.update();
+
+        while (opModeInInit()){
+            if (gamepad1.triangleWasPressed()){
+                VelocityCommander.lockFront = true;
+                VelocityCommander.lockBack = false;
+            } else if (gamepad1.squareWasPressed()){
+                VelocityCommander.lockBack = true;
+                VelocityCommander.lockFront = false;
+            } else if (gamepad1.circleWasPressed()){
+                VelocityCommander.lockBack = false;
+                VelocityCommander.lockFront = false;
+            }
+            TELE.addLine("Initialization is done");
+            TELE.addData("Starting Position", follower.getPose());
+            TELE.addData("TELE START", teleStart);
+            TELE.addData("Front?:", VelocityCommander.lockFront);
+            TELE.addData("Back?:", VelocityCommander.lockBack);
+            TELE.update();
+        }
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        int emptyTicks = 0;
+        while (opModeIsActive()) {
+            //Drivetrain
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x,
+                    gamepad1.left_trigger
+            );
+
+            if (gamepad1.crossWasPressed()){
+                if (Color.redAlliance){
+                    relocalizePose = new Pose(57.5, 5, 0);
+                } else {
+                    relocalizePose = new Pose(-57.5, 5, Math.toRadians(180));
+                }
+                follower.setPose(relocalizePose);
+                sleep(500);
+                gamepad1.rumble(100);
+            }
+
+            follower.update();
+            Pose currentPose = follower.getPose();
+
+            if (gamepad1.dpadLeftWasPressed()){
+                shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+            }
+
+            if (gamepad1.dpadRightWasPressed()){
+                shooter.setState(Shooter.ShooterState.TRACK_GOAL);
+            }
+
+            if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
+                shooter.setFlywheelVelocity(2500);
+                robot.setHoodPos(0.6);
+            }
+
+            if (gamepad1.triangleWasPressed()){
+                VelocityCommander.lockFront = true;
+                VelocityCommander.lockBack = false;
+                TELE.addData("Front?:", true);
+                TELE.addData("Back?:", false);
+            } else if (gamepad1.squareWasPressed()){
+                VelocityCommander.lockBack = true;
+                VelocityCommander.lockFront = false;
+                TELE.addData("Front?:", false);
+                TELE.addData("Back?:", true);
+            } else if (gamepad1.circleWasPressed()){
+                VelocityCommander.lockBack = false;
+                VelocityCommander.lockFront = false;
+                TELE.addData("Front?:", false);
+                TELE.addData("Back?:", true);
+            }
+
+            shooter.update(robot.voltage.getVoltage());
+            spindexerTransferIntake.update();
+
+            SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
+
+            if (gamepad1.leftBumperWasPressed() &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF ||
+                            state == SpindexerTransferIntake.RapidMode.BEFORE_PULSE_OUT ||
+                            state == SpindexerTransferIntake.RapidMode.PULSE_OUT ||
+                            state == SpindexerTransferIntake.RapidMode.PULSE_IN ||
+                            state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
+
+                spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+                intakeFull = false;
+                firstTickFull = true;
+                shooting = true;
+            }
+
+            if (state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT){
+                shooting = false;
+            }
+
+            if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed() && !shooting){
+                intakeFull = true;
+            } else {
+                intakeFull = false;
+                firstTickFull = true;
+            }
+
+            if (intakeFull && firstTickFull){
+                gamepad1.rumble(100);
+                firstTickFull = false;
+            }
+
+            if (gamepad1.right_trigger > 0.5 &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
+
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.HOLD_BALLS
+                );
+            }
+
+            if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) {
+                robot.setIntakePower(1);
+                robot.setTransferPower(-0.7);
+            }
+
+            if (gamepad2.leftBumperWasPressed()){
+                limelightUsed = false;
+            } else if (gamepad2.rightBumperWasPressed()){
+                limelightUsed = true;
+            }
+
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
+            loopTimes.loop();
+//            TELE.addData("Loop Time Average", loopTimes.getAvgLoopTime());
+//            TELE.addData("Loop Time Max", loopTimes.getMaxLoopTimeOneMin());
+//            TELE.addData("Loop Time Min", loopTimes.getMinLoopTimeOneMin());
+//
+            TELE.addData("Distance From Goal", commander.getDistance());
+//            TELE.addData("Hood Position", commander.getHoodPredicted());
+//            TELE.addData("Transfer Power", robot.transfer.getPower());
+            TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
+            TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
+//
+//            TELE.addData("Current Position", currentPose);
+//
+//            TELE.addData("Current LL Pipeline", turret.pipeline());
+//
+            TELE.update();
+        }
+
+    }
+}

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

@@ -9,8 +9,7 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
-@Config
+
-@TeleOp
 public class AprilTagWebcamExample extends OpMode {
 
     MultipleTelemetry TELE;

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

@@ -7,12 +7,12 @@ import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
 
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
-@Config
+
-@TeleOp
 public class ColorTest extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;
@@ -28,16 +28,20 @@ public class ColorTest extends LinearOpMode {
         if (isStopRequested()) return;
 
         while(opModeIsActive()){
-            double green1 = robot.color1.getNormalizedColors().green;
+
-            double blue1 = robot.color1.getNormalizedColors().blue;
+
-            double red1 = robot.color1.getNormalizedColors().red;
+            NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+
+            double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+
             double dist1 = robot.color1.getDistance(DistanceUnit.MM);
             color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);
 
             TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
-            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 green", gP1);
             TELE.addData("Color1 distance (mm)", color1Distance);
 
+
 // ----- COLOR 2 -----
             double green2 = robot.color2.getNormalizedColors().green;
             double blue2 = robot.color2.getNormalizedColors().blue;

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

@@ -0,0 +1,141 @@
+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 com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
+
+@Config
+@TeleOp
+public class Hardware_Tester extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+
+    public static boolean subsystemMode = true;
+
+    // Bare Motor Powers
+    public static double flPow = 0;
+    public static double frPow = 0;
+    public static double blPow = 0;
+    public static double brPow = 0;
+    public static double intakePow = 0;
+    public static double transferPow = 0;
+    public static double shooter1Pow = 0;
+    public static double shooter2Pow = 0;
+
+    // Subsystem Motor Powers
+    public static double drivetrainPow = 0;
+    public static double shooterPow = 0;
+
+    // Bare Servo Positions
+    public static double spin1Pos = 0.501;
+    public static double spin2Pos = 0.501;
+    public static double turr1Pos = 0.501;
+    public static double turr2Pos = 0.501;
+    public static double transferServosPos = 0.501;
+    public static double hoodPos = 0.501;
+    public static double spindexBlockerPos = 0.501;
+    public static double rapidFireBlockerPos = 0.501;
+    public static double tilt1Pos = 0.501;
+    public static double tilt2Pos = 0.501;
+
+    // Subsystem Servo Positions
+    public static double spinPos = 0.501;
+    public static double turrPos = 0.501;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        Robot.resetInstance();
+        robot = Robot.getInstance(hardwareMap);
+        TELE = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        robot.shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        robot.shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+        while (opModeIsActive()){
+            // Non-subsystem based components
+            robot.setIntakePower(intakePow);
+            robot.setTransferPower(transferPow);
+
+            if (transferServosPos != 0.501){
+                robot.setTransferServoPos(transferServosPos);
+            }
+            if (hoodPos != 0.501){
+                robot.setHoodPos(hoodPos);
+            }
+            if (rapidFireBlockerPos != 0.501){
+                robot.setRapidFireBlockerPos(rapidFireBlockerPos);
+            }
+            if (spindexBlockerPos != 0.501){
+                robot.setSpindexBlockerPos(spindexBlockerPos);
+            }
+            if (tilt1Pos != 0.501){
+                robot.setTilt1Pos(tilt1Pos);
+            }
+            if (tilt2Pos != 0.501){
+                robot.setTilt2Pos(tilt2Pos);
+            }
+
+            // Subsystem based components
+            if (subsystemMode){
+                robot.setFrontLeftPower(drivetrainPow);
+                robot.setFrontRightPower(drivetrainPow);
+                robot.setBackLeftPower(drivetrainPow);
+                robot.setBackRightPower(drivetrainPow);
+                robot.shooter1.setPower(shooterPow);
+                robot.shooter2.setPower(shooterPow);
+
+                if (spinPos != 0.501){
+                    robot.setSpinPos(spinPos);
+                }
+                if (turrPos != 0.501){
+                    robot.setTurretPos(turrPos);
+                }
+            } else {
+                robot.setFrontLeftPower(flPow);
+                robot.setFrontRightPower(frPow);
+                robot.setBackLeftPower(blPow);
+                robot.setBackRightPower(brPow);
+                robot.shooter1.setPower(shooter1Pow);
+                robot.shooter2.setPower(shooter2Pow);
+
+                if (spin1Pos != 0.501){
+                    robot.spin1.setPosition(spin1Pos);
+                }
+                if (spin2Pos != 0.501){
+                    robot.spin2.setPosition(spin2Pos);
+                }
+                if (turr1Pos != 0.501){
+                    robot.turr1.setPosition(turr1Pos);
+                }
+                if (turr2Pos != 0.501){
+                    robot.turr2.setPosition(turr2Pos);
+                }
+            }
+
+            // Sensor Data
+
+            TELE.addData("Beam Break insideBeam?", robot.insideBeam.isPressed());
+            TELE.addData("Beam Break outsideBeam?", robot.outsideBeam.isPressed());
+//            TELE.addData("Beam Break 2?", robot.beam2.isPressed());
+//            TELE.addData("Beam Break 3?", robot.beam3.isPressed());
+
+            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+            TELE.addData("REV Distance", robot.revSensor.getDistance(DistanceUnit.CM));
+            TELE.addData("REV Green", revColor.blue / (revColor.green + revColor.blue + revColor.red));
+
+            TELE.addData("Voltage Sensor", robot.voltage.getVoltage());
+
+            TELE.update();
+        }
+    }
+}

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

@@ -7,8 +7,6 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
-@Config
-@TeleOp
 public class MotorDirectionDebugger extends LinearOpMode {
 
     public static double flPower = 0.0;

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

@@ -0,0 +1,168 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.utilsv2.Turret.limelightUsed;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.teleop.TeleopV4;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+
+@TeleOp
+@Config
+public class NewShooterTest extends LinearOpMode {
+    Robot robot;
+    Drivetrain drivetrain;
+    Shooter shooter;
+    MultipleTelemetry TELE;
+    Follower follower;
+    SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+    ParkTilter parkTilter;
+
+    public static int flywheelVelo = 0;
+    public static double hoodPos = 0.5;
+    public static double transferPower = -0.8;
+    public static boolean overrideTransferPower = false;
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot.resetInstance();
+
+        robot = Robot.getInstance(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(), telemetry
+        );
+
+        commander = new VelocityCommander();
+        drivetrain = new Drivetrain(robot, TELE);
+        follower = Constants.createFollower(hardwareMap);
+        follower.setStartingPose(new Pose(0,0,0));
+        sleep(500);
+        follower.setPose(new Pose(0,0,0));
+
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+        parkTilter = new ParkTilter(robot);
+        parkTilter.unpark();
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+        shooter.setRedAlliance(Color.redAlliance);
+        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
+        spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
+
+        turret.switchPipeline(Turret.PipelineMode.TRACKING);
+        robot.limelight.start();
+
+        limelightUsed = true;
+
+        TELE.addLine("Initialization Complete");
+        TELE.update();
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+            //Drivetrain
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x,
+                    gamepad1.left_trigger
+            );
+
+            if (gamepad1.crossWasPressed()){
+                if (Color.redAlliance){
+                    TeleopV4.relocalizePose = new Pose(57.5, 5, 0);
+                } else {
+                    TeleopV4.relocalizePose = new Pose(-57.5, 5, Math.toRadians(180));
+                }
+                follower.setPose(TeleopV4.relocalizePose);
+                sleep(500);
+                gamepad1.rumble(100);
+            }
+
+            follower.update();
+
+            if (gamepad1.dpadLeftWasPressed()){
+                shooter.setState(Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR);
+            }
+
+            if (gamepad1.dpadRightWasPressed()){
+                shooter.setState(Shooter.ShooterState.TRACK_GOAL);
+            }
+
+            if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
+                shooter.setFlywheelVelocity(flywheelVelo);
+                robot.setHoodPos(hoodPos);
+            }
+
+
+//            shooter.setTurretPosition(turretPos);
+            shooter.update(robot.voltage.getVoltage());
+            spindexerTransferIntake.update();
+
+            if (gamepad2.leftBumperWasPressed()){
+                limelightUsed = false;
+            } else if (gamepad2.rightBumperWasPressed()){
+                limelightUsed = true;
+            }
+
+            SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
+
+            if (gamepad1.leftBumperWasPressed() &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF ||
+                            state == SpindexerTransferIntake.RapidMode.BEFORE_PULSE_OUT ||
+                            state == SpindexerTransferIntake.RapidMode.PULSE_OUT ||
+                            state == SpindexerTransferIntake.RapidMode.PULSE_IN ||
+                            state == SpindexerTransferIntake.RapidMode.HOLD_BALLS)) {
+
+                spindexerTransferIntake.setRapidMode(SpindexerTransferIntake.RapidMode.OPEN_GATE);
+            }
+
+            if (gamepad1.right_trigger > 0.5 &&
+                    (state == SpindexerTransferIntake.RapidMode.INTAKE ||
+                            state == SpindexerTransferIntake.RapidMode.TRANSFER_OFF)) {
+
+                spindexerTransferIntake.setRapidMode(
+                        SpindexerTransferIntake.RapidMode.HOLD_BALLS
+                );
+            }
+            if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) {
+                robot.setIntakePower(1);
+            }
+
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
+            TELE.addData("Distance From Goal", commander.getDistance());
+            TELE.addData("Hood Position", commander.getHoodPredicted());
+            TELE.addData("Transfer Power", commander.getTransferPow());
+            TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
+            TELE.addData("Manuel Velocity RPM", flywheelVelo);
+            TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
+            TELE.addData("TX:", turret.getTX());
+
+            TELE.update();
+        }
+
+    }
+}

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

@@ -2,18 +2,19 @@ package org.firstinspires.ftc.teamcode.tests;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.teleop.TeleopV3.spinSpeedIncrease;
 import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.pedropathing.geometry.Pose;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -26,8 +27,6 @@ import org.firstinspires.ftc.teamcode.utils.Spindexer;
 import org.firstinspires.ftc.teamcode.utils.Targeting;
 import org.firstinspires.ftc.teamcode.utils.Turret;
 
-@Config
-@TeleOp
 public class ShooterTest extends LinearOpMode {
     public static int mode = 1;
     public static double parameter = 0.0;
@@ -37,7 +36,7 @@ public class ShooterTest extends LinearOpMode {
     public static double P = 255.0;
     public static double I = 0.0;
     public static double D = 0.0;
-    public static double F = 90;
+    public static double F = 75;
     public static double transferPower = 1.0;
     public static double hoodPos = 0.501;
     public static double turretPos = 0.501;
@@ -106,7 +105,7 @@ public class ShooterTest extends LinearOpMode {
 
             double dx = robX - goalX;  // delta x from robot to goal
             double dy = robY - goalY;  // delta y from robot to goal
-            Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+            Pose deltaPose = new Pose(dx, dy, robotHeading);
 
             double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
 
@@ -128,9 +127,9 @@ public class ShooterTest extends LinearOpMode {
 
             if (hoodPos != 0.501) {
                 if (enableHoodAutoOpen) {
-                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
                 } else {
-                    robot.hood.setPosition(hoodPos);
+                    robot.hood.setPosition(hoodPos + hoodOffset);
                 }
             }
 

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

@@ -0,0 +1,126 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseH;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseX;
+import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStartPoseY;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utilsv2.*;
+
+@TeleOp
+@Config
+public class SortedSpindexerTest extends LinearOpMode {
+    Robot robot;
+    Drivetrain drivetrain;
+    Shooter shooter;
+    MultipleTelemetry TELE;
+    Follower follower;
+    SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
+    VelocityCommander commander;
+
+    ParkTilter parkTilter;
+    public static String order = "GPP";
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+
+        Robot.resetInstance();
+
+        robot = Robot.getInstance(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                FtcDashboard.getInstance().getTelemetry(), telemetry
+        );
+
+        commander = new VelocityCommander();
+        drivetrain = new Drivetrain(robot, TELE);
+        follower = Constants.createFollower(hardwareMap);
+        Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
+        follower.setStartingPose(start);
+
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+        parkTilter = new ParkTilter(robot);
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel, commander);
+        shooter.setState(Shooter.ShooterState.TRACK_GOAL);
+        shooter.setRedAlliance(Color.redAlliance);
+        spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE, commander);
+        spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.SORTED);
+
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()) {
+
+            switch(order) {
+                case "PPG":
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.PPG
+                    );
+                    break;
+
+                case "PGP":
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.PGP
+                    );
+                    break;
+
+                default:
+                    spindexerTransferIntake.setDesiredPattern(
+                            SpindexerTransferIntake.DesiredPattern.GPP
+                    );
+            }
+
+
+            //Drivetrain
+            drivetrain.drive(
+                    -gamepad1.right_stick_y,
+                    gamepad1.right_stick_x,
+                    gamepad1.left_stick_x,
+                    gamepad1.left_trigger
+            );
+
+            follower.update();
+
+
+            shooter.update(robot.voltage.getVoltage());
+            spindexerTransferIntake.update();
+
+            SpindexerTransferIntake.RapidMode state = spindexerTransferIntake.getRapidState();
+
+            if(gamepad1.leftBumperWasPressed()) {
+                spindexerTransferIntake.startSortedShoot();
+            }
+
+            if (gamepad1.dpad_down){
+                parkTilter.park();
+            } else if (gamepad1.dpad_up) {
+                parkTilter.unpark();
+            }
+
+            TELE.addData("Distance From Goal", commander.getDistance());
+            TELE.addData("Hood Position", commander.getHoodPredicted());
+            TELE.addData("Transfer Power", robot.transfer.getPower());
+            TELE.addData("Theoretical Velocity RPM", commander.getPredictedRPM());
+            TELE.addData("Actual Velocity RPM", flywheel.getAverageVelocity());
+
+            TELE.update();
+        }
+
+    }
+}

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

@@ -0,0 +1,113 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+public class SortingTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        int motif = 21;
+        boolean intaking = true;
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        if (opModeIsActive()){
+            Actions.runBlocking(
+                    autoActions.ShakeDrivetrain(
+                            100
+                    )
+            );
+//            spindexer.setIntakePower(1);
+//            robot.transfer.setPower(1);
+//
+//            if (gamepad1.crossWasPressed()){
+//                motif = 21;
+//            } else if (gamepad1.squareWasPressed()){
+//                motif = 22;
+//            } else if (gamepad1.triangleWasPressed()){
+//                motif = 23;
+//            }
+//            flywheel.manageFlywheel(2500);
+//
+//            if (gamepad1.leftBumperWasPressed()){
+//                intaking = false;
+//                Actions.runBlocking(
+//                        autoActions.prepareShootAll(
+//                                3,
+//                                5,
+//                                motif,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        )
+//                );
+//            } else if (gamepad1.rightBumperWasPressed()){
+//                intaking = false;
+//                Actions.runBlocking(
+//                        autoActions.shootAllAuto(
+//                                3.5,
+//                                0.014,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        )
+//                );
+//                intaking = true;
+//            } else if (intaking){
+//                spindexer.processIntake();
+//            }
+        }
+    }
+}

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

@@ -4,16 +4,17 @@ import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Turret;
 
-@TeleOp
-@Config
 public class TurretTest extends LinearOpMode {
     public static boolean zeroTurr = false;
     @Override
@@ -25,26 +26,31 @@ public class TurretTest extends LinearOpMode {
         );
 
         Turret turret = new Turret(robot, TELE, robot.limelight);
+
+        Follower follower;
+        follower = Constants.createFollower(hardwareMap);
+        Pose start = new Pose(72, 72, 0);
+        follower.setStartingPose(start);
+        follower.update();
         waitForStart();
 
-        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(15, 0,0));
+        Turret.limelightUsed = false;
 
         while(opModeIsActive()){
+            follower.update();
+            turret.trackGoal(follower.getPose());
 
-            drive.updatePoseEstimate();
+//            TELE.addData("tpos", turret.getTurrPos());
-            turret.trackGoal(drive.localizer.getPose());
+//            TELE.addData("Limelight tx", turret.getBearing());
+//            TELE.addData("Limelight ty", turret.getTy());
+//            TELE.addData("Limelight X", turret.getLimelightX());
+//            TELE.addData("Limelight Y", turret.getLimelightY());
 
-            TELE.addData("tpos", turret.getTurrPos());
+//            if(zeroTurr){
-            TELE.addData("Limelight tx", turret.getBearing());
+//                turret.zeroTurretEncoder();
-            TELE.addData("Limelight ty", turret.getTy());
+//            }
-            TELE.addData("Limelight X", turret.getLimelightX());
-            TELE.addData("Limelight Y", turret.getLimelightY());
 
-            if(zeroTurr){
+//            TELE.update();
-                turret.zeroTurretEncoder();
-            }
-
-            TELE.update();
         }
 
     }

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

@@ -1,54 +1,76 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.TranslationalVelConstraint;
-import com.acmerobotics.roadrunner.Vector2d;
+import com.pedropathing.follower.Follower;
-import com.acmerobotics.roadrunner.ftc.Actions;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.Gamepad;
-
-import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
 public class Drivetrain {
 
-     Robot robot;
+    Robot robot;
     boolean autoDrive = false;
 
-    Pose2d brakePos = new Pose2d(0, 0, 0);
+    Pose brakePos = new Pose(0, 0, 0);
 
-    MecanumDrive drive;
+//    MecanumDrive drive;
+    Follower follower;
 
     private final TranslationalVelConstraint VEL_CONSTRAINT = new TranslationalVelConstraint(200);
     private final ProfileAccelConstraint ACCEL_CONSTRAINT = new ProfileAccelConstraint(-Math.abs(60), 200);
 
 
-    public Drivetrain (Robot rob, MecanumDrive mecanumDrive){
+    public Drivetrain(Robot rob, Follower follower){
 
         this.robot = rob;
-        this.drive = mecanumDrive;
+        this.follower = follower;
 
     }
 
+    private double prevY = 0;
+    private double prevX = 0;
+    private double prevRX = 0;
+    private double prevBrake = 0;
     public void drive(double y, double x, double rx, double brake){
+        int countConstant = 0;
+        boolean brakeChange = false;
+        if (Math.abs(prevY - y) > 0.05){
+            prevY = y;
+            countConstant++;
+        }
+        if (Math.abs(prevX - x) > 0.05){
+            prevX = x;
+            countConstant++;
+        }
+        if (Math.abs(prevRX - rx) > 0.05){
+            prevRX = rx;
+            countConstant++;
+        }
+        if (Math.abs(prevBrake - brake) > 0.05){
+            prevBrake = brake;
+            brakeChange = true;
+        }
 
-        if (!autoDrive) {
+        if (!autoDrive && countConstant > 0) {
 
             x = x* 1.1; // Counteract imperfect strafing
 
 
-            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+            double denominator = Math.max(Math.abs(prevY) + Math.abs(prevX) + Math.abs(prevRX), 1);
-            double frontLeftPower = (y + x + rx) / denominator;
+            double frontLeftPower = (prevY + prevX + prevRX) / denominator;
-            double backLeftPower = (y - x + rx) / denominator;
+            double backLeftPower = (prevY - prevX + prevRX) / denominator;
-            double frontRightPower = (y - x - rx) / denominator;
+            double frontRightPower = (prevY - prevX - prevRX) / denominator;
-            double backRightPower = (y + x - rx) / denominator;
+            double backRightPower = (prevY + prevX - prevRX) / denominator;
 
             robot.frontLeft.setPower(frontLeftPower);
             robot.backLeft.setPower(backLeftPower);
             robot.frontRight.setPower(frontRightPower);
             robot.backRight.setPower(backRightPower);
         }
+        Pose currentPos = follower.getPose();
+        brakePos = currentPos;
 
         if (brake > 0.4 && robot.frontLeft.getZeroPowerBehavior() != DcMotor.ZeroPowerBehavior.BRAKE && !autoDrive) {
             robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
@@ -56,23 +78,17 @@ public class Drivetrain {
             robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
             robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 
-            drive.updatePoseEstimate();
-
-            brakePos = drive.localizer.getPose();
             autoDrive = true;
 
         } else if (brake > 0.4) {
-            drive.updatePoseEstimate();
 
-            Pose2d currentPos = drive.localizer.getPose();
+            PathChain traj2 = follower.pathBuilder()
+                    .addPath(new BezierLine(currentPos, brakePos))
+                    .setLinearHeadingInterpolation(currentPos.getHeading(), brakePos.getHeading())
+                    .build();
 
-            TrajectoryActionBuilder traj2 = drive.actionBuilder(currentPos)
+            if (Math.abs(currentPos.getX() - brakePos.getX()) > 1 || Math.abs(currentPos.getY() - brakePos.getY()) > 1) {
-                    .strafeToLinearHeading(new Vector2d(brakePos.position.x, brakePos.position.y), brakePos.heading.toDouble(), VEL_CONSTRAINT, ACCEL_CONSTRAINT);
+                follower.followPath(traj2);
-
-            if (Math.abs(currentPos.position.x - brakePos.position.x) > 1 || Math.abs(currentPos.position.y - brakePos.position.y) > 1) {
-                Actions.runBlocking(
-                        traj2.build()
-                );
             }
         } else {
             autoDrive = false;

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

@@ -12,15 +12,13 @@ public class Flywheel {
     public double velo1 = 0.0;
     public double velo2 = 0.0;
     double targetVelocity = 0.0;
-    double previousTargetVelocity = 0.0;
-    double powPID = 0.0;
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
         robot = new Robot(hardwareMap);
         shooterPIDF1 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
         shooterPIDF2 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
     }
 
     public double getVelo () {
@@ -38,8 +36,8 @@ public class Flywheel {
     }
 
     // Set the robot PIDF for the next cycle.
-    private double prevF = 0.501;
+    private double prevF = 0;
-    public static int voltagePIDFDifference = 5;
+    public static double voltagePIDFDifference = 0.8;
     public void setPIDF(double p, double i, double d, double f) {
         shooterPIDF1.p = p;
         shooterPIDF1.i = i;
@@ -52,6 +50,7 @@ public class Flywheel {
         if (Math.abs(prevF - f) > voltagePIDFDifference){
             robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
             robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+            prevF = f;
         }
     }
 
@@ -61,26 +60,23 @@ public class Flywheel {
     // Convert from Ticks per Second to RPM
     private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
 
-    public double manageFlywheel(double commandedVelocity) {
+    public void manageFlywheel(double commandedVelocity) {
 
         if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
             targetVelocity = commandedVelocity;
             // Add code here to set PIDF based on desired RPM
             //robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
             //robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
-            robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
-            robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
-
-            // Record Current Velocity
-            velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-            velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
-            velo = Math.max(velo1, velo2);
 
         }
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        velo = Math.max(velo1, velo2);
         // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 200.0);
+        steady = (Math.abs(commandedVelocity - velo) < 50);
 
-        return powPID;
     }
 
     public void update()

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

@@ -7,12 +7,11 @@ import org.firstinspires.ftc.teamcode.constants.Color;
 import org.firstinspires.ftc.teamcode.constants.StateEnums.LightState;
 
 
-@Config
 public final class Light {
 
     private static Light instance;
     public static  double ballColorCycleTime = 1000; //in ms
-    public static double restingTime = 150; //in ms
+    public static double restingTime = 125; //in ms
 
     private Servo lightServo;
     private LightState state = LightState.DISABLED;
@@ -64,17 +63,17 @@ public final class Light {
                 break;
 
             case BALL_COLOR:
-
+                double currentTime = System.currentTimeMillis();
-                if ((System.currentTimeMillis() % ballColorCycleTime) < ((ballColorCycleTime / 3) - restingTime)) {
+                if ((currentTime % ballColorCycleTime) < ((ballColorCycleTime / 3) - restingTime)) {
                     lightColor = spindexer.getRearCenterLight();
-                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime / 3)) {
+                } else if ((currentTime % ballColorCycleTime) < (ballColorCycleTime / 3)) {
                     lightColor = 0;
-                } else if ((System.currentTimeMillis() % ballColorCycleTime) < ((2 * ballColorCycleTime / 3) - restingTime)) {
+                } else if ((currentTime % ballColorCycleTime) < ((2 * ballColorCycleTime / 3) - restingTime)) {
                     lightColor = spindexer.getDriverLight();
 
-                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (2 * ballColorCycleTime / 3)) {
+                } else if ((currentTime % ballColorCycleTime) < (2 * ballColorCycleTime / 3)) {
                     lightColor = 0;
-                } else if ((System.currentTimeMillis() % ballColorCycleTime) < (ballColorCycleTime - restingTime)) {
+                } else if ((currentTime % ballColorCycleTime) < (ballColorCycleTime - restingTime)) {
                     lightColor = spindexer.getPassengerLight();
 
                 } else {

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

@@ -7,10 +7,10 @@ public class MeasuringLoopTimes {
     private double minLoopTime = 999999999999.0;
 
     private double maxLoopTime = 0.0;
-    private double mainLoopTime = 0.0;
+    double mainLoopTime = 0.0;
 
     private double MeasurementStart = 0.0;
-    private double currentTime = 0.0;
+    double currentTime = 0.0;
 
     private double avgLoopTime = 0.0;
     private int avgLoopTimeTicker = 0;
@@ -43,13 +43,12 @@ public class MeasuringLoopTimes {
 
     public void loop() {
         currentTime = getTimeSeconds();
-        if ((MeasurementStart + 15.0) < currentTime)
+        if ((MeasurementStart + 60) < currentTime)
         {
             minLoopTime = 9999999.0;
             maxLoopTime = 0.0;
             MeasurementStart = currentTime;
 
-            avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
             avgLoopTimeSum = 0.0;
             avgLoopTimeTicker = 0;
         }
@@ -59,6 +58,7 @@ public class MeasuringLoopTimes {
 
         avgLoopTimeSum += mainLoopTime;
         avgLoopTimeTicker++;
+        avgLoopTime = avgLoopTimeSum / (double) avgLoopTimeTicker;
         minLoopTime = Math.min(minLoopTime,mainLoopTime);
         maxLoopTime = Math.max(maxLoopTime,mainLoopTime);
     }

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

@@ -10,8 +10,6 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
 
-@TeleOp
-@Config
 public class PositionalServoProgrammer extends LinearOpMode {
     Robot robot;
     MultipleTelemetry TELE;

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

@@ -1,23 +1,21 @@
 package org.firstinspires.ftc.teamcode.utils;
 
 import com.acmerobotics.dashboard.config.Config;
-import com.arcrobotics.ftclib.hardware.ServoEx;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
-import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.TouchSensor;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 
 import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
 import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
 
-@Config
 public class Robot {
 
     //Initialize Public Components
@@ -31,21 +29,31 @@ public class Robot {
     public DcMotorEx intake;
     public DcMotorEx transfer;
     public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 255.0;
+    public static double shooterPIDF_P = 255;
-    public double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_I = 0.0;
-    public double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_D = 0.0;
-    public double shooterPIDF_F = 90;
+    public static double shooterPIDF_F = 75;
-    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
+//    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
     public DcMotorEx shooter1;
     public DcMotorEx shooter2;
     public Servo hood;
     public Servo transferServo;
+    public Servo spindexBlocker;
+    public Servo rapidFireBlocker;
+    public Servo tilt1;
+    public Servo tilt2;
     public Servo turr1;
     public Servo turr2;
-
     public Servo spin1;
-
     public Servo spin2;
+    public TouchSensor beam1;
+    public TouchSensor beam2;
+    public TouchSensor beam3;
+    public RevColorSensorV3 revSensor;
+
+    public VoltageSensor voltage;
+
+    // Below is disregarded
     public AnalogInput spin1Pos;
     public AnalogInput spin2Pos;
     public AnalogInput turr1Pos;
@@ -57,7 +65,6 @@ public class Robot {
     public RevColorSensorV3 color3;
     public Limelight3A limelight;
     public Servo light;
-    public VoltageSensor voltage;
 
     public Robot(HardwareMap hardwareMap) {
 
@@ -75,6 +82,7 @@ public class Robot {
         backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
 
         intake = hardwareMap.get(DcMotorEx.class, "intake");
+        intake.setDirection(DcMotorSimple.Direction.REVERSE);
 
         shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
 
@@ -91,34 +99,50 @@ public class Robot {
 
         hood = hardwareMap.get(Servo.class, "hood");
 
-        turr1 = hardwareMap.get(Servo.class, "t1");
+        turr1 = hardwareMap.get(Servo.class, "turr1");
 
-        turr2 = hardwareMap.get(Servo.class, "t2");
+        turr2 = hardwareMap.get(Servo.class, "turr2");
 
-        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
+        spin1 = hardwareMap.get(Servo.class, "spin1");
 
-        spin1 = hardwareMap.get(Servo.class, "spin2");
+        spin2 = hardwareMap.get(Servo.class, "spin2");
-
-        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
-
-        spin2 = hardwareMap.get(Servo.class, "spin1");
-
-        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
 
         transfer = hardwareMap.get(DcMotorEx.class, "transfer");
+        transfer.setDirection(DcMotorSimple.Direction.REVERSE);
 
         transferServo = hardwareMap.get(Servo.class, "transferServo");
 
-        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
-
         transfer.setDirection(DcMotorSimple.Direction.REVERSE);
         transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
-        color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
+        spindexBlocker = hardwareMap.get(Servo.class, "spinB");
 
-        color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
+        rapidFireBlocker = hardwareMap.get(Servo.class, "rapidB");
 
-        color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
+        tilt1 = hardwareMap.get(Servo.class, "tilt1");
+        tilt2 = hardwareMap.get(Servo.class, "tilt2");
+
+//        beam1 = hardwareMap.get(TouchSensor.class, "beam1");
+//        beam2 = hardwareMap.get(TouchSensor.class, "beam2");
+//        beam3 = hardwareMap.get(TouchSensor.class, "beam3");
+
+        revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
+
+        // Below is disregarded
+
+//        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
+//
+//        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
+//
+//        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
+//
+//        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
+//
+//        color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
+//
+//        color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
+//
+//        color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
 
         if (usingLimelight) {
             limelight = hardwareMap.get(Limelight3A.class, "limelight");
@@ -127,7 +151,144 @@ public class Robot {
             aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
         }
 
-        light = hardwareMap.get(Servo.class, "light");
+//        light = hardwareMap.get(Servo.class, "light");
+
         voltage = hardwareMap.voltageSensor.iterator().next();
     }
+
+    // Voids below are used to minimize hardware calls to minimize loop times
+
+    // Used to cut off digits that are negligible
+    private final int maxDigits = 5;
+    private final int roundingFactor = (int) Math.pow(10, maxDigits);
+
+    private double prevFrontLeftPower = -10.501;
+    public void setFrontLeftPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevFrontLeftPower){
+            frontLeft.setPower(pow);
+        }
+        prevFrontLeftPower = pow;
+    }
+
+    private double prevFrontRightPower = -10.501;
+    public void setFrontRightPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevFrontRightPower){
+            frontRight.setPower(pow);
+        }
+        prevFrontRightPower = pow;
+    }
+
+    private double prevBackLeftPower = -10.501;
+    public void setBackLeftPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevBackLeftPower){
+            backLeft.setPower(pow);
+        }
+        prevBackLeftPower = pow;
+    }
+
+    private double prevBackRightPower = -10.501;
+    public void setBackRightPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevBackRightPower){
+            backRight.setPower(pow);
+        }
+        prevBackRightPower = pow;
+    }
+
+    private double prevIntakePower = -10.501;
+    public void setIntakePower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevIntakePower){
+            intake.setPower(pow);
+        }
+        prevIntakePower = pow;
+    }
+
+    private double prevTransferPower = -10.501;
+    public void setTransferPower(double pow){
+        pow = (double) Math.round(pow * roundingFactor) / roundingFactor;
+        if (pow != prevTransferPower){
+            transfer.setPower(pow);
+        }
+        prevTransferPower = pow;
+    }
+
+    // shooter motors are done in separate class
+
+    private double prevHoodPos = -10.501;
+    public void setHoodPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevHoodPos){
+            hood.setPosition(pos);
+        }
+        prevHoodPos = pos;
+    }
+
+    private double prevTransferServoPos = -10.501;
+    public void setTransferServoPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTransferServoPos){
+            transferServo.setPosition(pos);
+        }
+        prevTransferServoPos = pos;
+    }
+
+    private double prevSpinPos = -10.501;
+    public void setSpinPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevSpinPos){
+            spin1.setPosition(pos);
+            spin2.setPosition(pos);
+        }
+        prevSpinPos = pos;
+    }
+
+    private double prevTurretPos = -10.501;
+    public void setTurretPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTurretPos){
+            turr1.setPosition(pos);
+            turr2.setPosition(pos);
+        }
+        prevTurretPos = pos;
+    }
+
+    private double prevTilt1Pos = -10.501;
+    public void setTilt1Pos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTilt1Pos){
+            tilt1.setPosition(pos);
+        }
+        prevTilt1Pos = pos;
+    }
+
+    private double prevTilt2Pos = -10.501;
+    public void setTilt2Pos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevTilt2Pos){
+            tilt2.setPosition(pos);
+        }
+        prevTilt2Pos = pos;
+    }
+
+    private double prevSpindexBlockerPos = -10.501;
+    public void setSpindexBlockerPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevSpindexBlockerPos){
+            spindexBlocker.setPosition(pos);
+        }
+        prevSpindexBlockerPos = pos;
+    }
+
+    private double prevRapidFireBlockerPos = -10.501;
+    public void setRapidFireBlockerPos(double pos){
+        pos = (double) Math.round(pos * roundingFactor) / roundingFactor;
+        if (pos != prevRapidFireBlockerPos){
+            rapidFireBlocker.setPosition(pos);
+        }
+        prevRapidFireBlockerPos = pos;
+    }
 }

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

@@ -1,10 +1,11 @@
 package org.firstinspires.ftc.teamcode.utils;
 
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-@Config
 public class Servos {
     //PID constants
     // TODO: get PIDF constants
@@ -12,8 +13,6 @@ public class Servos {
     public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
     public static double spin_scalar = 1.112;
     public static double spin_restPos = 0.155;
-    public static double turret_scalar = 1.009;
-    public static double turret_restPos = 0.0;
     Robot robot;
     PIDFController spinPID;
     PIDFController turretPID;
@@ -49,14 +48,13 @@ public class Servos {
         return (Math.abs(pos1 - pos2) < 0.005);
     }
 
-    public double setTransferPos(double pos) {
+    public void setTransferPos(double pos) {
         if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
             robot.transferServo.setPosition(pos);
             firstTransferPos = false;
         }
 
         prevTransferPos = pos;
-        return pos;
     }
 
     public double setSpinPos(double pos) {
@@ -70,29 +68,16 @@ public class Servos {
         return pos;
     }
 
-    public double setHoodPos(double pos){
+    public void setHoodPos(double pos){
         if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
-            robot.hood.setPosition(pos);
+            robot.hood.setPosition(pos + hoodOffset);
             firstHoodPos = false;
         }
 
         prevHoodPos = pos;
-        return pos;
     }
 
     public boolean spinEqual(double pos) {
-        return Math.abs(pos - this.getSpinPos()) < 0.03;
+        return Math.abs(pos - this.getSpinPos()) < 0.05;
-    }
-
-    public double getTurrPos() {
-        return 1.0;
-    }
-
-    public double setTurrPos(double pos) {
-        return 1.0;
-    }
-
-    public boolean turretEqual(double pos) {
-        return true;
     }
 }

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

@@ -16,6 +16,8 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
@@ -46,12 +48,15 @@ public class Spindexer {
     public double distanceFrontDriver = 0.0;
     public double distanceFrontPassenger = 0.0;
 
-    public double spindexerWiggle = 0.01;
+    public double spindexerWiggle = 0.03;
 
     public double spindexerOuttakeWiggle = 0.01;
     private double prevPos = 0.0;
     public double spindexerPosOffset = 0.00;
     public static int shootWaitMax = 4;
+    public static boolean whileShooting = false;
+    public static int waitFirstBallTicks = 4;
+    private int shootTicks = 0;
     public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
     // For Use
     enum RotatedBallPositionNames {
@@ -168,10 +173,25 @@ public class Spindexer {
     // Detects if a ball is found and what color.
     // Returns true is there was a new ball found in Position 1
     // FIXIT: Reduce number of times that we read the color sensors for loop times.
+    public static boolean teleop = false;
     public boolean detectBalls(boolean detectRearColor, boolean detectFrontColor) {
 
         boolean newPos1Detection = false;
         int spindexerBallPos = 0;
+        double rearDistance;
+        double frontDriverDistance;
+        double frontPassengerDistance;
+        if (teleop){
+            rearDistance = 48;
+            frontDriverDistance = 50;
+            frontPassengerDistance = 29;
+            detectFrontColor = false;
+            detectRearColor = false;
+        } else {
+            rearDistance = 48;
+            frontDriverDistance = 56;
+            frontPassengerDistance = 29;
+        }
 
         // Read Distances
         double dRearCenter = robot.color1.getDistance(DistanceUnit.MM);
@@ -182,12 +202,12 @@ public class Spindexer {
         distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);
 
         // Position 1
-        if (distanceRearCenter < 60) {
+        if (distanceRearCenter < rearDistance) {
 
             // Mark Ball Found
             newPos1Detection = true;
 
-            if (detectRearColor) {
+            if (detectRearColor && !teleop) {
                 // Detect which color
                 NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
 
@@ -204,10 +224,10 @@ public class Spindexer {
         // Position 2
         // Find which ball position this is in the spindexer
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 56) {
+        if (distanceFrontDriver < frontDriverDistance) {
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
-            if (detectFrontColor) {
+            if (detectFrontColor && !teleop) {
                 NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
 
                 double gP = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
@@ -230,11 +250,11 @@ public class Spindexer {
 
         // Position 3
         spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTPASSENGER.ordinal()];
-        if (distanceFrontPassenger < 29) {
+        if (distanceFrontPassenger < frontPassengerDistance) {
 
             // reset FoundEmpty because looking for 3 in a row before reset
             ballPositions[spindexerBallPos].foundEmpty = 0;
-            if (detectFrontColor) {
+            if (detectFrontColor && !teleop) {
                 NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
 
                 double gP = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
@@ -362,6 +382,7 @@ public class Spindexer {
                 commandedIntakePosition = 0;
                 servos.setSpinPos(intakePositions[0]);
                 currentIntakeState = Spindexer.IntakeState.UNKNOWN_MOVE;
+                servos.setTransferPos(transferServo_out);
                 break;
             case UNKNOWN_MOVE:
                 // Stopping when we get to the new position
@@ -373,6 +394,7 @@ public class Spindexer {
                     // Keep moving the spindexer
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 }
+                servos.setTransferPos(transferServo_out);
                 break;
             case UNKNOWN_DETECT:
                 if (unknownColorDetect >5) {
@@ -381,6 +403,7 @@ public class Spindexer {
                     //detectBalls(true, true);
                     unknownColorDetect++;
                 }
+                servos.setTransferPos(transferServo_out);
                 break;
             case INTAKE:
                 // Ready for intake and Detecting a New Ball
@@ -392,6 +415,7 @@ public class Spindexer {
                     spindexerWiggle *= -1.0;
                     servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
                 }
+                servos.setTransferPos(transferServo_out);
                 break;
             case FINDNEXT:
                 // Find Next Open Position and start movement
@@ -423,23 +447,24 @@ public class Spindexer {
                     currentIntakeState = Spindexer.IntakeState.FULL;
                 }
                 servos.setSpinPos(intakePositions[commandedIntakePosition]);
+                servos.setTransferPos(transferServo_out);
                 break;
-
             case MOVING:
                 // Stopping when we get to the new position
                 if (servos.spinEqual(intakePositions[commandedIntakePosition])) {
-                    if (intakeTicker > 1){
+                    //if (intakeTicker > 1){
                         currentIntakeState = Spindexer.IntakeState.INTAKE;
                         stopSpindexer();
                         intakeTicker = 0;
-                    } else {
+                    //} else {
-                        intakeTicker++;
+                    //    intakeTicker++;
-                    }
+                    //}
                     //detectBalls(false, false);
                 } else {
                     // Keep moving the spindexer
                     servos.setSpinPos(intakePositions[commandedIntakePosition]);
                 }
+                servos.setTransferPos(transferServo_out);
                 break;
 
             case FULL:
@@ -452,6 +477,7 @@ public class Spindexer {
                 // Maintain Position
                 spindexerWiggle *= -1.0;
                 servos.setSpinPos(intakePositions[commandedIntakePosition]+spindexerWiggle);
+                servos.setTransferPos(transferServo_out);
                 break;
 
             case SHOOT_ALL_PREP:
@@ -531,20 +557,26 @@ public class Spindexer {
 
             case SHOOT_PREP_CONTINOUS:
                 if (servos.spinEqual(spinStartPos)){
+                    servos.setTransferPos(transferServo_in);
                     currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
                 } else {
+                    servos.setTransferPos(transferServo_out);
                     servos.setSpinPos(spinStartPos);
                 }
                 break;
 
             case SHOOT_CONTINOUS:
+                whileShooting = true;
                 ballPositions[0].isEmpty = false;
                 ballPositions[1].isEmpty = false;
                 ballPositions[2].isEmpty = false;
                 if (servos.getSpinPos() > spinEndPos){
+                    whileShooting = false;
+                    servos.setTransferPos(transferServo_out);
+                    shootTicks = 0;
                     currentIntakeState = IntakeState.FINDNEXT;
                 } else {
-                    double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
+                    double spinPos = robot.spin1.getPosition() + shootAllSpindexerSpeedIncrease;
                     if (spinPos > spinEndPos + 0.03){
                         spinPos = spinEndPos + 0.03;
                     }

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

@@ -1,9 +1,12 @@
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
 
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import java.lang.Math;
 
+import org.firstinspires.ftc.teamcode.constants.Color;
 import org.firstinspires.ftc.teamcode.constants.ServoPositions;
 
 public class Targeting {
@@ -71,7 +74,7 @@ public class Targeting {
     public final int TILE_UPPER_QUARTILE = 18;
     public final int TILE_LOWER_QUARTILE = 6;
     public double robotInchesX, robotInchesY = 0.0;
-    public int robotGridX, robotGridY = 0;
+    public int robotGridX = 0, robotGridY = 0;
     MultipleTelemetry TELE;
     double cancelOffsetX = 0.0;  // was -40.0
     double cancelOffsetY = 0.0;  // was 7.0
@@ -82,24 +85,64 @@ public class Targeting {
     public Targeting() {
     }
 
+    //TODO: change code so it uses pedropathing paths
     public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
         Settings recommendedSettings = new Settings(0.0, 0.0);
+        int gridX;
+        int gridY;
+        int remX = 0;
+        int remY = 0;
+        // Old code
+//        if (!redAlliance){
+//            sin54 = Math.sin(Math.toRadians(54));
+//            double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
+//            double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
+//
+//            // Convert robot coordinates to inches
+//            robotInchesX = rotatedX * unitConversionFactor + 20;
+//            robotInchesY = rotatedY * unitConversionFactor + 20;
+//
+//            // Find approximate location in the grid
+//            gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize));
+//            gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+//        } else {
+//            sin54 = Math.sin(Math.toRadians(-54));
+//            double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
+//            double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;
+//
+//            // Convert robot coordinates to inches
+//            robotInchesX = rotatedX * unitConversionFactor;
+//            robotInchesY = rotatedY * unitConversionFactor;
+//
+//            // Find approximate location in the grid
+//            gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
+//            gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
+//        }
+//
+//
+        remX = Math.floorMod((int) robotX, tileSize);
+        remY = Math.floorMod((int) robotY, tileSize);
+//
+//        //clamp
+//
+//        if (redAlliance) {
+//            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+//            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+//        } else {
+//            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+//            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+//        }
 
-        double cos45 = Math.cos(Math.toRadians(-45));
+        // New code
-        double sin45 = Math.sin(Math.toRadians(-45));
+        if (redAlliance){
-        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
+            gridY = Math.round((float) (((144-robotX)-12) / 24));
-        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
+        } else {
+            gridY = Math.round((float) ((robotX-12) / 24));
+        }
+        gridX = Math.round((float) (((144-robotY)-12) / 24));
 
-        // Convert robot coordinates to inches
+        robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-        robotInchesX = rotatedX * unitConversionFactor;
+        robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        robotInchesY = rotatedY * unitConversionFactor;
-
-        // Find approximate location in the grid
-        int gridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
-        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
-
-        int remX = Math.floorMod((int) robotInchesX, tileSize);
-        int remY = Math.floorMod((int) robotInchesX, tileSize);
 
         // Determine if we need to interpolate based on tile position.
         // if near upper or lower quarter or tile interpolate with next tile.
@@ -172,21 +215,11 @@ public class Targeting {
             interpolate = false;
         }
 
-        //clamp
-
-        if (redAlliance) {
-            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        } else {
-            robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        }
-
         // basic search
         if (true) { //!interpolate) {
             if ((robotGridY < 6) && (robotGridX < 6)) {
                 recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.hoodOffset;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + hoodOffset;
             }
             return recommendedSettings;
         } else {

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

@@ -6,40 +6,39 @@ import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.arcrobotics.ftclib.controller.PIDController;
+import com.pedropathing.geometry.Pose;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.teleop.TeleopV3;
 
+import java.util.ArrayList;
 import java.util.List;
 
-@Config
 
 public class Turret {
 
     public static double turretTolerance = 0.02;
     public static double turrPosScalar = 0.00011264432;
-    public static double turret180Range = 0.4;
+    public static double turret180Range = 0.58;
-    public static double turrDefault = 0.39;
+    public static double turrDefault = 0.51;
-    public static double turrMin = 0.15;
+    public static double turrMin = 0.05;
-    public static double turrMax = 0.85;
+    public static double turrMax = 0.95;
     public static boolean limelightUsed = true;
-
+    public static double limelightPosOffset = 5;
     public static double manualOffset = 0.0;
 
-    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+//    public static double visionCorrectionGain = 0.08;  // Single tunable gain
-    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+//    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
-    public static double cameraBearingEqual = 0.5;      // Deadband
+//    public static double cameraBearingEqual = 0.5;      // Deadband
 
-    // TODO: tune these values for limelight
+//    public static double clampTolerance = 0.03;
-
-    public static double clampTolerance = 0.03;
     //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
-    public static double B_PID_P = 0.066, B_PID_I = 0.0, B_PID_D = 0.007;
+    public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
@@ -48,6 +47,8 @@ public class Turret {
     double limelightPosX = 0.0;
     double limelightPosY = 0.0;
     LLResult result;
+    public static double TARGET_POSITION_TOLERANCE = 0.5;
+    public static double COLOR_OK_TOLERANCE = 2;
     boolean bearingAligned = false;
     private boolean lockOffset = false;
     private int obeliskID = 0;
@@ -55,11 +56,12 @@ public class Turret {
     private double currentTrackOffset = 0.0;
     private double lightColor = Color.LightRed;
     private int currentTrackCount = 0;
-    private double permanentOffset = 0.0;
+    double permanentOffset = 0.0;
-    private PIDController bearingPID;
+    private int prevPipeline = -1;
+    PIDController bearingPID;
 
-    private double prevTurretPos = 0.0;
+    public int llCoast = 0;
-    private boolean firstTurretPos = true;
+    public int LL_COAST_TICKS = 60;
 
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
@@ -78,36 +80,52 @@ public class Turret {
     }
 
     public double getTurrPos() {
-        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;
+        return robot.turr1.getPosition();
 
     }
-    private double prevTurrPos = 0.501;
+    private double prevTurrPos = 0;
+    private boolean isFirstTurretPos = true;
     public void setTurret(double pos) {
-        if (prevTurrPos != 0.501 && prevTurrPos != pos){
+        if (isFirstTurretPos || prevTurrPos != pos){
             robot.turr1.setPosition(pos);
             robot.turr2.setPosition(1-pos);
+            isFirstTurretPos = false;
         }
         prevTurrPos = pos;
     }
+    public void pipelineSwitch(int pipeline){
+        if (prevPipeline != pipeline){
+            robot.limelight.pipelineSwitch(pipeline);
+        }
+        prevPipeline = pipeline;
+    }
 
     public boolean turretEqual(double pos) {
         return Math.abs(pos - this.getTurrPos()) < turretTolerance;
     }
 
+    public static double alphaPosConstant = 0.3;
     private void limelightRead() { // only for tracking purposes, not general reads
-
+        Double xPos = null;
+        Double yPos = null;
+        double zPos;
+        Double hPos = null;
         result = webcam.getLatestResult();
         if (result != null) {
             if (result.isValid()) {
                 tx = result.getTx();
                 ty = result.getTy();
-                // MegaTag1 code for receiving position
+                if (TeleopV3.relocalize){
-                Pose3D botpose = result.getBotpose();
+                    zPos = result.getBotpose().getPosition().z;
-                if (botpose != null) {
+                    if (zPos < 0.15){
-                    limelightPosX = botpose.getPosition().x;
+                        xPos = result.getBotpose().getPosition().x;
-                    limelightPosY = botpose.getPosition().y;
+                        yPos = result.getBotpose().getPosition().y;
+                        hPos = result.getBotpose().getOrientation().getYaw();
+                        limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
+                        limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
+                        limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
+                    }
                 }
-
             }
         }
     }
@@ -122,12 +140,20 @@ public class Turret {
         return ty;
     }
 
+    double limelightTagX = 0.0;
+    double limelightTagY = 0.0;
+    double limelightTagZ = 0.0;
+    double limelightTagH = 0.0;
     public double getLimelightX() {
-        return limelightPosX;
+        return limelightTagX;
     }
+    public double getLimelightY() {return limelightTagY;}
+    public double getLimelightZ(){return limelightTagZ;}
+    public double getLimelightH(){return limelightTagH;}
 
-    public double getLimelightY() {
+    public void relocalize(){
-        return limelightPosY;
+        setTurret(turrDefault);
+        limelightRead();
     }
 
     public int detectObelisk() {
@@ -135,8 +161,12 @@ public class Turret {
         LLResult result = webcam.getLatestResult();
         if (result != null && result.isValid()) {
             List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            double prevTx  = -1000;
             for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                obeliskID = fiducial.getFiducialId();
+                double currentTx = fiducial.getTargetXDegrees();
+                if (currentTx > prevTx){
+                    obeliskID = fiducial.getFiducialId();
+                }
             }
         }
         return obeliskID;
@@ -157,16 +187,16 @@ public class Turret {
     /*
         Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
      */
-
+    private double targetTx = 0;
+    public static double alphaTX = 0.5;
     private double bearingAlign(LLResult llResult) {
         double bearingOffset = 0.0;
-        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
+        double tx = llResult.getTx();   // How far left or right the target is (degrees)
-        final double MIN_OFFSET_POWER = 0.15;
+        targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
-        final double TARGET_POSITION_TOLERANCE = 1.0;
+//        final double MIN_OFFSET_POWER = 0.15;
-        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+//        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
-        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+//        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
-        final double DRIVE_POWER_REDUCTION = 2.0;
+//        final double DRIVE_POWER_REDUCTION = 2.0;
-        final double COLOR_OK_TOLERANCE = 2.5;
 
         if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
             bearingAligned = true;
@@ -202,17 +232,31 @@ public class Turret {
         return bearingOffset;
     }
 
-    public void trackGoal(Pose2d deltaPos) {
+    double targetTurretPos;
+    public void trackGoal(Pose deltaPos) {
 
         /* ---------------- FIELD → TURRET GEOMETRY ---------------- */
+        double posX;
+        if (Color.redAlliance){
+            posX = 134 - deltaPos.getX();
+        } else {
+            posX = deltaPos.getX() - 10;
+        }
+        double posY = 140 - deltaPos.getY();
+        double posH = Math.toDegrees(deltaPos.getHeading());
+        while (posH > 180) posH -= 360;
+        while (posH < -180) posH += 360;
 
         // Angle from robot to goal in robot frame
-        double desiredTurretAngleDeg = Math.toDegrees(
+        double desiredTurretAngleDeg = Math.toDegrees(Math.atan2(posY, posX)) - 45;
-                Math.atan2(deltaPos.position.y, deltaPos.position.x)
-        );
 
         // Robot heading (field → robot)
-        double robotHeadingDeg = Math.toDegrees(deltaPos.heading.toDouble());
+        double robotHeadingDeg;
+        if (Color.redAlliance){
+            robotHeadingDeg = posH + 135;
+        } else {
+            robotHeadingDeg = posH + 45;
+        }
 
         // Turret angle needed relative to robot
         double turretAngleDeg = desiredTurretAngleDeg - robotHeadingDeg;
@@ -230,11 +274,18 @@ public class Turret {
 
         turretAngleDeg += permanentOffset;
 
+
         limelightRead();
         // Active correction if we see the target
-        if (result.isValid() && !lockOffset && limelightUsed) {
+        if (result.isValid() && !lockOffset && limelightUsed && targetTurretPos > turrMin && targetTurretPos < turrMax) {
             currentTrackOffset += bearingAlign(result);
             currentTrackCount++;
+
+            TELE.addData("LL Tracking: ", llCoast);
+
+            // Assume the last tracked value is always better than
+            // any previous value, even if its not fully aligned.
+            llCoast = LL_COAST_TICKS;
 //            double bearingError = Math.abs(tagBearingDeg);
 //
 //            if (bearingError > cameraBearingEqual) {
@@ -265,9 +316,15 @@ public class Turret {
 //            if (currentTrackCount > 20) {
 //                offset = currentTrackOffset;
 //            }
-            lightColor = Color.LightRed;
+            if (llCoast <= 0) {
-            currentTrackOffset = 0.0;
+                TELE.addData("LL No Track: ", llCoast);
-            currentTrackCount = 0;
+                lightColor = Color.LightRed;
+                currentTrackOffset = 0.0;
+                currentTrackCount = 0;
+            } else {
+                TELE.addData("LL Coasting: ", llCoast);
+                llCoast--;
+            }
         }
 
         // Apply accumulated offset
@@ -276,13 +333,13 @@ public class Turret {
 
         /* ---------------- ANGLE → SERVO POSITION ---------------- */
 
-        double targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
+        targetTurretPos = turrDefault + (turretAngleDeg * (turret180Range * 2.0) / 360);
 
         // Clamp to physical servo limits
         targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));
 
         // Interpolate towards target position
-        double currentPos = getTurrPos();
+//        double currentPos = getTurrPos();
         double turretPos = targetTurretPos;
 
         if (targetTurretPos == turrMin) {
@@ -292,20 +349,23 @@ public class Turret {
         }
 
         // Set servo positions
-        setTurret(turretPos + manualOffset);
+        if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
+            setTurret(turretPos + manualOffset);
+        }
 
 
         /* ---------------- TELEMETRY ---------------- */
 
 //        TELE.addData("Turret Angle (deg)", "%.2f", turretAngleDeg);
 //        TELE.addData("Target Pos", "%.3f", targetTurretPos);
-//        TELE.addData("Current Pos", "%.3f", currentPos);
+//        TELE.addData("Current Localization Pos", deltaPos);
 //        TELE.addData("Commanded Pos", "%.3f", turretPos);
 //        TELE.addData("LL Valid", result.isValid());
 //        TELE.addData("LL getTx", result.getTx());
 //        TELE.addData("LL Offset", offset);
 //        TELE.addData("Bearing Error", hasValidTarget ? String.format("%.2f", tagBearingDeg) : "NO TARGET");
 //        TELE.addData("Learned Offset", "%.2f", offset);
+//        TELE.update();
     }
 
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Drivetrain.java

@@ -0,0 +1,108 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+@Config
+public class Drivetrain {
+
+    Robot robot;
+
+    MultipleTelemetry telemetry;
+
+    private static final double DEADZONE = 0.15;
+    private static final double AXIS_SNAP_THRESHOLD = 0.12;
+
+    private static final double STRAFE_MULTIPLIER = 1.2;
+
+    public static double FORWARD_ROTATION_CORRECTION = 0;
+    public static double STRAFE_ROTATION_CORRECTION = -0;
+
+    private boolean tele = false;
+
+    public Drivetrain(Robot rob, MultipleTelemetry TELE) {
+
+        this.robot = rob;
+
+        robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+
+        this.telemetry = TELE;
+    }
+
+    public void setTelemetry(boolean input) {
+        tele = input;
+    }
+
+    public void drive(double y, double x, double rx, double stop) {
+
+        boolean snappedForward = false;
+        boolean snappedStrafe = false;
+
+        if (Math.abs(y) < DEADZONE) y = 0;
+        if (Math.abs(x) < DEADZONE) x = 0;
+        if (Math.abs(rx) < DEADZONE) rx = 0;
+
+        if (Math.abs(x) < AXIS_SNAP_THRESHOLD) {
+            x = 0;
+            snappedForward = true;
+        }
+
+        if (Math.abs(y) < AXIS_SNAP_THRESHOLD) {
+            y = 0;
+            snappedStrafe = true;
+        }
+
+        x *= STRAFE_MULTIPLIER;
+
+        double correctionRX = 0;
+
+        if (rx == 0) {
+            correctionRX += (y * FORWARD_ROTATION_CORRECTION);
+            correctionRX += (x * STRAFE_ROTATION_CORRECTION);
+
+            rx += correctionRX;
+        }
+
+        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.setFrontLeftPower(frontLeftPower);
+        robot.setBackLeftPower(backLeftPower);
+        robot.setFrontRightPower(frontRightPower);
+        robot.setBackRightPower(backRightPower);
+
+        if (stop > 0.5){
+            robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+            robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+            robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+            robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+            robot.setFrontLeftPower(0);
+            robot.setBackLeftPower(0);
+            robot.setFrontRightPower(0);
+            robot.setBackRightPower(0);
+        }
+
+//        if (tele) {
+//
+//            telemetry.addData("Forward Snap", snappedForward);
+//            telemetry.addData("Strafe Snap", snappedStrafe);
+//
+//            telemetry.addData("Correction RX", correctionRX);
+//
+//            telemetry.addData("FL", frontLeftPower);
+//            telemetry.addData("BL", backLeftPower);
+//            telemetry.addData("FR", frontRightPower);
+//            telemetry.addData("BR", backRightPower);
+//
+//        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java

@@ -0,0 +1,159 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.controller.PIDFController;
+import com.arcrobotics.ftclib.controller.wpilibcontroller.SimpleMotorFeedforward;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+
+import org.firstinspires.ftc.teamcode.utilsv2.Robot;
+
+import java.util.LinkedList;
+
+@Config
+public class Flywheel {
+    Robot robot;
+
+//    public PIDFCoefficients shooterPIDF1, shooterPIDF2;
+    public static PIDFCoefficients shooterPIDF;
+    PIDFController pidf;
+    SimpleMotorFeedforward feedforward;
+
+    public static double kS = 0.01; // Static feedforward
+    public static double kV = 0.0001935; // Velocity feedforward
+
+    public static double shooterPIDF_P = 500;
+    public static double shooterPIDF_I = 1;
+    public static double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_F = 93;
+//    public static double shooterPIDF_P = 0.0001;
+//    public static double shooterPIDF_I = 0;
+//    public static double shooterPIDF_D = 0.00001;
+//    public static double shooterPIDF_F = 0;
+
+    private double velo = 0.0;
+    private double velo1 = 0.0;
+    private double velo2 = 0.0;
+
+    private double averageVelocity = 0.0;
+
+    double targetVelocity = 0.0;
+
+    boolean steady = false;
+
+    private final LinkedList<Double> velocityHistory = new LinkedList<>();
+
+    public Flywheel(Robot rob) {
+        robot = rob;
+        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
+//        pidf = new PIDFController(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, 0);
+//        feedforward = new SimpleMotorFeedforward(kS, kV);
+    }
+
+    public double getVelo() {
+        return velo;
+    }
+
+    public double getVelo1() {
+        return velo1;
+    }
+
+    public double getVelo2() {
+        return velo2;
+    }
+
+    public double getAverageVelocity() {
+        return averageVelocity;
+    }
+
+    public boolean getSteady() {
+        return steady;
+    }
+
+    // Set the robot PIDF for the next cycle.
+
+    public void setPIDF(double p, double i, double d, double f) {
+
+        shooterPIDF.p = p;
+        shooterPIDF.i = i;
+        shooterPIDF.d = d;
+        shooterPIDF.f = f;
+
+//        pidf.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, 0);
+
+        robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+    }
+
+    private double prevF = 0;
+
+    public static double voltagePIDFDifference = 1;
+    double averageVoltage = 0;
+    public void setF(double voltage){
+        averageVoltage = ALPHA * voltage + (1 - ALPHA) * averageVoltage;
+        double f = shooterPIDF_F / voltage;
+        if (Math.abs(prevF - f) > voltagePIDFDifference && !steady) {
+            shooterPIDF.f = f;
+            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        }
+        prevF = f;
+    }
+
+    // Convert from RPM to Ticks per Second
+    private double RPM_to_TPS(double RPM) {
+        return (RPM * 28.0) / 60.0;
+    }
+
+    // Convert from Ticks per Second to RPM
+    private double TPS_to_RPM(double TPS) {
+        return (TPS * 60.0) / 28.0;
+    }
+
+    double ALPHA = 0.3;
+    private void updateVelocityAverage(double newVelocity) {
+
+//        velocityHistory.add(newVelocity);
+//
+//        int velocityHistorySize = 5;
+//        if (velocityHistory.size() > velocityHistorySize) {
+//            velocityHistory.removeFirst();
+//        }
+//
+//        double sum = 0.0;
+//
+//        for (double v : velocityHistory) {
+//            sum += v;
+//        }
+//
+//        averageVelocity = sum / velocityHistory.size();
+
+        averageVelocity = ALPHA * newVelocity + (1 - ALPHA) * averageVelocity;
+    }
+
+    double power;
+    double prevTargetTime = 0;
+    double prevTargetVelocity = 0;
+    public void manageFlywheel(double commandedVelocity) {
+
+        if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
+            targetVelocity = commandedVelocity;
+        }
+
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        power = robot.shooter1.getPower();
+        robot.shooter2.setPower(power);
+
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+
+        velo = velo1;
+
+        updateVelocityAverage(velo);
+
+        steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
+    }
+
+    public double getShooterPower(){return power;}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/ParkTilter.java

@@ -0,0 +1,22 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+
+public class ParkTilter {
+    Robot robot;
+    public ParkTilter (Robot rob) {
+        this.robot = rob;
+    }
+
+    public void park() {
+        robot.setTilt1Pos(ServoPositions.tilt1_down);
+        robot.setTilt2Pos(ServoPositions.tilt2_down);
+    }
+
+    public void unpark() {
+        robot.setTilt1Pos(ServoPositions.tilt1_up);
+        robot.setTilt2Pos(ServoPositions.tilt2_up);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Robot.java

@@ -0,0 +1,305 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import android.view.View;
+
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+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.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.TouchSensor;
+import com.qualcomm.robotcore.hardware.VoltageSensor;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+public class Robot {
+    // Singleton instance
+    private static Robot instance;
+
+
+    /**
+     * Returns the existing Robot instance or creates one if it doesn't exist.
+     */
+    public static Robot getInstance(HardwareMap hardwareMap) {
+        if (instance == null) {
+            instance = new Robot(hardwareMap);
+        }
+        return instance;
+    }
+
+    /**
+     * Optional: clears the singleton.
+     * Useful when switching OpModes.
+     */
+    public static void resetInstance() {
+        instance = null;
+    }
+
+    public static boolean usingLimelight = true;
+    public static boolean usingCamera = false;
+    public DcMotorEx frontLeft;
+    public DcMotorEx frontRight;
+    public DcMotorEx backLeft;
+    public DcMotorEx backRight;
+    public DcMotorEx intake;
+    public DcMotorEx transfer;
+    //    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
+    public DcMotorEx shooter1;
+    public DcMotorEx shooter2;
+    public Servo hood;
+    public Servo transferServo;
+    public Servo spindexBlocker;
+    public Servo rapidFireBlocker;
+    public Servo tilt1;
+    public Servo tilt2;
+    public Servo turr1;
+    public Servo turr2;
+    public Servo spin1;
+    public Servo spin2;
+    public TouchSensor insideBeam;
+    public TouchSensor outsideBeam;
+    public RevColorSensorV3 revSensor;
+
+    public VoltageSensor voltage;
+
+    // Below is disregarded
+    public AnalogInput spin1Pos;
+    public AnalogInput spin2Pos;
+    public AnalogInput turr1Pos;
+    public AnalogInput transferServoPos;
+    public AprilTagProcessor aprilTagProcessor;
+    public WebcamName webcam;
+    public RevColorSensorV3 color1;
+    public RevColorSensorV3 color2;
+    public RevColorSensorV3 color3;
+    public Limelight3A limelight;
+    public Servo light;
+
+    public Robot(HardwareMap hardwareMap) {
+
+        //Define components w/ hardware map
+        frontLeft = hardwareMap.get(DcMotorEx.class, "fl");
+        frontRight = hardwareMap.get(DcMotorEx.class, "fr");
+        backLeft = hardwareMap.get(DcMotorEx.class, "bl");
+        backRight = hardwareMap.get(DcMotorEx.class, "br");
+        frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+        backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+
+        intake = hardwareMap.get(DcMotorEx.class, "intake");
+        intake.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        shooter1 = hardwareMap.get(DcMotorEx.class, "shooter1");
+
+        shooter2 = hardwareMap.get(DcMotorEx.class, "shooter2");
+
+        shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
+//        shooterPIDF = new PIDFCoefficients(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / 12);
+        shooter1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+//        shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
+        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        hood = hardwareMap.get(Servo.class, "hood");
+
+        turr1 = hardwareMap.get(Servo.class, "turr1");
+
+        turr2 = hardwareMap.get(Servo.class, "turr2");
+
+        spin1 = hardwareMap.get(Servo.class, "spin1");
+
+        spin2 = hardwareMap.get(Servo.class, "spin2");
+
+        transfer = hardwareMap.get(DcMotorEx.class, "transfer");
+
+
+        transferServo = hardwareMap.get(Servo.class, "transferServo");
+
+        transfer.setDirection(DcMotorSimple.Direction.REVERSE);
+        transfer.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        spindexBlocker = hardwareMap.get(Servo.class, "spinB");
+
+        rapidFireBlocker = hardwareMap.get(Servo.class, "rapidB");
+
+        tilt1 = hardwareMap.get(Servo.class, "tilt1");
+        tilt2 = hardwareMap.get(Servo.class, "tilt2");
+
+        insideBeam = hardwareMap.get(TouchSensor.class, "beam1");
+        outsideBeam = hardwareMap.get(TouchSensor.class, "beam2");
+
+        revSensor = hardwareMap.get(RevColorSensorV3.class, "rev");
+
+        // Below is disregarded
+
+//        turr1Pos = hardwareMap.get(AnalogInput.class, "t1Pos"); // Encoder of turret plugged in intake port
+//
+//        spin1Pos = hardwareMap.get(AnalogInput.class, "spin1Pos");
+//
+//        spin2Pos = hardwareMap.get(AnalogInput.class, "spin2Pos");
+//
+//        transferServoPos = hardwareMap.get(AnalogInput.class, "tSPos");
+//
+//        color1 = hardwareMap.get(RevColorSensorV3.class, "c1");
+//
+//        color2 = hardwareMap.get(RevColorSensorV3.class, "c2");
+//
+//        color3 = hardwareMap.get(RevColorSensorV3.class, "c3");
+
+        if (usingLimelight) {
+            limelight = hardwareMap.get(Limelight3A.class, "limelight");
+        } else if (usingCamera) {
+            webcam = hardwareMap.get(WebcamName.class, "Webcam 1");
+            aprilTagProcessor = AprilTagProcessor.easyCreateWithDefaults();
+        }
+
+//        light = hardwareMap.get(Servo.class, "light");
+
+        voltage = hardwareMap.voltageSensor.iterator().next();
+    }
+
+    // Voids below are used to minimize hardware calls to minimize loop times
+
+    // Used to cut off digits that are negligible
+    private final int maxDigits = 3;
+    private final int roundingFactor = (int) Math.pow(10, maxDigits);
+
+    private double prevFrontLeftPower = -10.501;
+    public void setFrontLeftPower(double pow){
+        pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
+        if (pow != prevFrontLeftPower){
+            frontLeft.setPower(pow);
+        }
+        prevFrontLeftPower = pow;
+    }
+
+    private double prevFrontRightPower = -10.501;
+    public void setFrontRightPower(double pow){
+        pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
+        if (pow != prevFrontRightPower){
+            frontRight.setPower(pow);
+        }
+        prevFrontRightPower = pow;
+    }
+
+    private double prevBackLeftPower = -10.501;
+    public void setBackLeftPower(double pow){
+        pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
+        if (pow != prevBackLeftPower){
+            backLeft.setPower(pow);
+        }
+        prevBackLeftPower = pow;
+    }
+
+    private double prevBackRightPower = -10.501;
+    public void setBackRightPower(double pow){
+        pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
+        if (pow != prevBackRightPower){
+            backRight.setPower(pow);
+        }
+        prevBackRightPower = pow;
+    }
+
+    private double prevIntakePower = -10.501;
+    public void setIntakePower(double pow){
+        pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
+        if (pow != prevIntakePower){
+            intake.setPower(pow);
+        }
+        prevIntakePower = pow;
+    }
+
+    private double prevTransferPower = -10.501;
+    public void setTransferPower(double pow){
+        pow = (double) Math.round((float) pow * roundingFactor) / roundingFactor;
+        if (pow != prevTransferPower){
+            transfer.setPower(pow);
+        }
+        prevTransferPower = pow;
+    }
+
+    // shooter motors are done in separate class
+
+    private double prevHoodPos = -10.501;
+    public void setHoodPos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevHoodPos){
+            hood.setPosition(pos);
+        }
+        prevHoodPos = pos;
+    }
+
+    private double prevTransferServoPos = -10.501;
+    public void setTransferServoPos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevTransferServoPos){
+            transferServo.setPosition(pos);
+        }
+        prevTransferServoPos = pos;
+    }
+
+    private double prevSpinPos = -10.501;
+    public void setSpinPos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevSpinPos){
+            spin1.setPosition(pos);
+            spin2.setPosition(pos);
+        }
+        prevSpinPos = pos;
+    }
+
+    private double prevTurretPos = -10.501;
+    public void setTurretPos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevTurretPos){
+            turr1.setPosition(pos);
+            turr2.setPosition(pos);
+        }
+        prevTurretPos = pos;
+    }
+
+    private double prevTilt1Pos = -10.501;
+    public void setTilt1Pos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevTilt1Pos){
+            tilt1.setPosition(pos);
+        }
+        prevTilt1Pos = pos;
+    }
+
+    private double prevTilt2Pos = -10.501;
+    public void setTilt2Pos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevTilt2Pos){
+            tilt2.setPosition(pos);
+        }
+        prevTilt2Pos = pos;
+    }
+
+    private double prevSpindexBlockerPos = -10.501;
+    public void setSpindexBlockerPos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevSpindexBlockerPos){
+            spindexBlocker.setPosition(pos);
+        }
+        prevSpindexBlockerPos = pos;
+    }
+
+    private double prevRapidFireBlockerPos = -10.501;
+    public void setRapidFireBlockerPos(double pos){
+        pos = (double) Math.round((float) pos * roundingFactor) / roundingFactor;
+        if (pos != prevRapidFireBlockerPos){
+            rapidFireBlocker.setPosition(pos);
+        }
+        prevRapidFireBlockerPos = pos;
+    }
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java

@@ -0,0 +1,222 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import static org.firstinspires.ftc.teamcode.utilsv2.Flywheel.*;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+
+@Config
+public class Shooter {
+
+    Robot robot;
+    Flywheel fly;
+    Turret turr;
+    VelocityCommander commander;
+
+    double goalX = 0.0;
+    double goalY = 0.0;
+    double obeliskX = 72;
+    double obeliskY = 144;
+    double turretGoalX = 0;
+    double turretGoalY = 0;
+
+    private boolean red = true;
+    public static boolean manualFlywheel = false;
+
+
+    Follower follow;
+
+    public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance, Turret turret, Flywheel flywheel, VelocityCommander com) {
+        this.robot = rob;
+        this.fly = flywheel;
+        this.turr = turret;
+        this.follow = follower;
+        this.commander = com;
+
+        setRedAlliance(redAlliance);
+
+    }
+
+    public void setRedAlliance(boolean input) {
+        this.red = input;
+
+        if (this.red) {
+            goalX = 72;
+            turretGoalX = 68;
+        } else {
+            goalX = -72;
+            turretGoalX = -68;
+        }
+        goalY = 72;
+        turretGoalY = 68;
+    }
+
+    private double flywheelVelocity = 0.0;
+    private double turretPosition = 0.5;
+
+    public enum ShooterState {
+        READ_OBELISK,
+        TRACK_GOAL,
+        MANUAL_FLYWHEEL_TRACK_TURR,
+        MANUAL_TURRET_TRACK_FLY,
+        MANUAL,
+        NOTHING
+    }
+
+
+    private ShooterState state = ShooterState.NOTHING;
+
+    public void setState(ShooterState shooterState) {
+        this.state = shooterState;
+    }
+
+    public ShooterState getState(){
+        return state;
+    }
+
+    public void setTurretPosition(double input) {
+        this.turretPosition = input;
+    }
+
+    public void setFlywheelVelocity(double input) {
+        this.flywheelVelocity = input;
+    }
+
+    public int getObeliskID() {
+        return turr.getObeliskID();
+    }
+
+    private final double shooterDistFromCenter = 1.545;
+    public void update(double voltage) {
+        setRedAlliance(Color.redAlliance);
+        switch (state) {
+            case NOTHING:
+                break;
+            case MANUAL:
+                manualFlywheel = true;
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent(),
+                        voltage,
+                        fly.getAverageVelocity()
+                );
+
+                fly.manageFlywheel(flywheelVelocity);
+                fly.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / voltage);
+                turr.manual(turretPosition);
+                break;
+            case TRACK_GOAL:
+                manualFlywheel = false;
+                turr.trackGoal(
+                        (turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getHeading(),
+                        follow.getAngularVelocity(),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent()
+                );
+
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent(),
+                        voltage,
+                        fly.getAverageVelocity()
+                );
+
+                flywheelVelocity = commander.getPredictedRPM();
+
+                robot.setHoodPos(commander.getHoodPredicted());
+                fly.manageFlywheel(flywheelVelocity);
+                fly.setF(voltage);
+                break;
+            case READ_OBELISK:
+                manualFlywheel = false;
+                robot.setTurretPos(Turret.neutralPosition);
+
+                turr.detectObelisk();
+
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent(),
+                        voltage,
+                        fly.getAverageVelocity()
+                );
+
+                flywheelVelocity = commander.getPredictedRPM();
+
+                fly.manageFlywheel(0);
+                fly.setF(voltage);
+                break;
+
+            case MANUAL_TURRET_TRACK_FLY:
+                manualFlywheel = false;
+                turr.manual(turretPosition);
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent(),
+                        voltage,
+                        fly.getAverageVelocity()
+                );
+
+                flywheelVelocity = commander.getPredictedRPM();
+                robot.setHoodPos(commander.getHoodPredicted());
+
+                fly.manageFlywheel(flywheelVelocity);
+                break;
+
+            case MANUAL_FLYWHEEL_TRACK_TURR:
+                manualFlywheel = true;
+                turr.trackGoal(
+                        (turretGoalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (turretGoalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getHeading(),
+                        follow.getAngularVelocity(),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent()
+                );
+                commander.getVeloPredictive(
+                        (goalX - follow.getPose().getX() - shooterDistFromCenter*Math.cos(follow.getHeading())),
+                        (goalY - follow.getPose().getY() - shooterDistFromCenter*Math.sin(follow.getHeading())),
+                        follow.getVelocity().getXComponent(),
+                        follow.getAcceleration().getXComponent(),
+                        follow.getVelocity().getYComponent(),
+                        follow.getAcceleration().getYComponent(),
+                        voltage,
+                        fly.getAverageVelocity()
+                );
+                fly.manageFlywheel(flywheelVelocity);
+                fly.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / voltage);
+                fly.setF(voltage);
+                break;
+
+        }
+
+    }
+
+    public double getDistance(){return commander.getDistance();}
+
+
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/SpindexerTransferIntake.java

@@ -0,0 +1,746 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import android.health.connect.datatypes.units.Velocity;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;
+
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.tests.NewShooterTest;
+
+@Config
+public class SpindexerTransferIntake {
+
+    private final Robot robot;
+
+    VelocityCommander commander;
+
+    private MultipleTelemetry TELE;
+
+    public SpindexerTransferIntake(Robot rob, MultipleTelemetry tele, VelocityCommander com) {
+        this.robot = rob;
+        this.commander = com;
+        this.TELE = tele;
+    }
+
+    public enum DesiredPattern {
+        PPG,
+        PGP,
+        GPP
+    }
+
+    public enum SortedShootState {
+        IDLE,
+
+        MOVE_TO_1,
+        WAIT_FOR_1,
+        SHOOT_1,
+        RETRACT_1,
+
+        MOVE_TO_2,
+        WAIT_FOR_2,
+        SHOOT_2,
+        RETRACT_2,
+
+        MOVE_TO_3,
+        WAIT_FOR_3,
+        SHOOT_3,
+        RETRACT_3,
+
+        DONE
+    }
+
+    int[] shootOrder = {0, 1, 2};
+    final double sensorDistanceThreshold = 5.3;
+    final long pulseTime = 100; // ms
+
+    private DesiredPattern desiredPattern = DesiredPattern.GPP;
+
+    private SortedShootState shootState = SortedShootState.IDLE;
+    private long shootStateStartTime = System.currentTimeMillis();
+
+    private void setShootState(SortedShootState newState) {
+        shootState = newState;
+        shootStateStartTime = System.currentTimeMillis();
+    }
+
+    private long shootStateTime() {
+        return System.currentTimeMillis() - shootStateStartTime;
+    }
+
+    private int[] buildShootOrder(
+            BallStates[] loaded,
+            DesiredPattern desired) {
+
+        BallStates[] target;
+
+        switch (desired) {
+            case PPG:
+                target = new BallStates[]{
+                        BallStates.PURPLE,
+                        BallStates.PURPLE,
+                        BallStates.GREEN
+                };
+                break;
+
+            case PGP:
+                target = new BallStates[]{
+                        BallStates.PURPLE,
+                        BallStates.GREEN,
+                        BallStates.PURPLE
+                };
+                break;
+
+            default: // GPP
+                target = new BallStates[]{
+                        BallStates.GREEN,
+                        BallStates.PURPLE,
+                        BallStates.PURPLE
+                };
+        }
+
+        int[] order = new int[3];
+        boolean[] used = new boolean[3];
+
+        // first pass: exact color matches
+        for (int i = 0; i < 3; i++) {
+
+            order[i] = -1;
+
+            for (int slot = 0; slot < 3; slot++) {
+
+                if (!used[slot]
+                        && loaded[slot] == target[i]) {
+
+                    order[i] = slot;
+                    used[slot] = true;
+                    break;
+                }
+            }
+        }
+
+        // second pass: fill leftovers
+        for (int i = 0; i < 3; i++) {
+
+            if (order[i] != -1)
+                continue;
+
+            for (int slot = 0; slot < 3; slot++) {
+
+                if (!used[slot]) {
+                    order[i] = slot;
+                    used[slot] = true;
+                    break;
+                }
+            }
+        }
+
+        return order;
+    }
+
+    private void moveToSlot(int slot) {
+
+        switch (slot) {
+
+            case 0:
+                robot.setSpinPos(
+                        ServoPositions.spindexer_A1
+                );
+                break;
+
+            case 1:
+                robot.setSpinPos(
+                        ServoPositions.spindexer_A2
+                );
+                break;
+
+            case 2:
+                robot.setSpinPos(
+                        ServoPositions.spindexer_A3
+                );
+                break;
+        }
+    }
+
+    public enum SortedIntakeStates {
+        NOTHING,
+        IDLE,
+        INTAKE_1,
+        DELAY_1,
+        INTAKE_2,
+        DELAY_2,
+        INTAKE_3,
+        REVERSE,
+
+    }
+
+    public enum SpindexerMode {
+        RAPID,
+        SORTED,
+        SHOOT_SORTED
+    }
+
+    public enum BallStates {
+        GREEN,
+        PURPLE,
+        UNKNOWN
+    }
+
+    public enum RapidMode {
+        INTAKE,
+        TRANSFER_OFF,
+        BEFORE_PULSE_OUT,
+        PULSE_OUT,
+        PULSE_IN,
+        HOLD_BALLS,
+        OPEN_GATE,
+        SHOOT
+    }
+
+    private SpindexerMode mode = SpindexerMode.RAPID;
+    private RapidMode rapidMode = RapidMode.INTAKE;
+    private SortedIntakeStates sortedIntakeStates = SortedIntakeStates.IDLE;
+    private BallStates[] ballColors = {BallStates.UNKNOWN, BallStates.UNKNOWN, BallStates.UNKNOWN};
+    final double greenThresh = 0.39;
+    final double spinMovementTime = 250;
+
+    /**
+     * Time when current state was entered.
+     */
+    private long stateStartTime = System.currentTimeMillis();
+    private long sortedStateStartTime = System.currentTimeMillis();
+
+    public void setDesiredPattern(DesiredPattern pattern) {
+        desiredPattern = pattern;
+    }
+
+    public void setDesiredPatternAuto(int id) {
+        if (id == 22){
+            desiredPattern = DesiredPattern.PGP;
+        } else if (id == 23){
+            desiredPattern = DesiredPattern.PPG;
+        } else {
+            desiredPattern = DesiredPattern.GPP;
+        }
+    }
+
+    public void startSortedShoot() {
+
+        shootOrder = buildShootOrder(
+                ballColors,
+                desiredPattern
+        );
+
+        setShootState(
+                SortedShootState.IDLE
+        );
+
+        setSpindexerMode(
+                SpindexerMode.SHOOT_SORTED
+        );
+    }
+    public void setRapidMode(RapidMode newMode) {
+        if (rapidMode != newMode) {
+            rapidMode = newMode;
+            stateStartTime = System.currentTimeMillis();
+        }
+    }
+
+    public void setSortedIntakeMode(SortedIntakeStates newMode) {
+        if (sortedIntakeStates != newMode) {
+            sortedIntakeStates = newMode;
+            sortedStateStartTime = System.currentTimeMillis();
+        }
+    }
+
+    public void setSpindexerMode(SpindexerMode spindexerMode) {
+        this.mode = spindexerMode;
+    }
+
+    public RapidMode getRapidState() {
+        return this.rapidMode;
+    }
+
+    private long stateTime() {
+        return System.currentTimeMillis() - stateStartTime;
+    }
+
+    private long sortedStateTime() {
+        return System.currentTimeMillis() - sortedStateStartTime;
+    }
+
+    private int greenTicks = 0;
+    private int ballTicks = 0;
+    private int holdBallsTicker = 0;
+    public void update() {
+
+//        TELE.addData("Sorted State", sortedIntakeStates);
+//        TELE.addData("Ball0", ballColors[0]);
+//        TELE.addData("Ball1", ballColors[1]);
+//        TELE.addData("Ball2", ballColors[2]);
+//
+//        TELE.addData("Shoot0", shootOrder[0]);
+//        TELE.addData("Shoot1", shootOrder[1]);
+//        TELE.addData("Shoot2", shootOrder[2]);
+//
+//        TELE.addData("Color0", ballColors[0]);
+//        TELE.addData("Color1", ballColors[1]);
+//        TELE.addData("Color2", ballColors[2]);
+//
+//        TELE.addData("Shoot State", shootState);
+        
+        switch (mode) {
+
+            case RAPID:
+
+                robot.setSpindexBlockerPos(
+                        ServoPositions.spindexBlocker_Open
+                );
+
+                switch (rapidMode) {
+
+                    case INTAKE:
+
+                        robot.setIntakePower(1);
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Closed
+                        );
+                        robot.setSpinPos(
+                                ServoPositions.spindexer_A2
+                        );
+                        robot.setTransferPower(-0.7);
+                        robot.setTransferServoPos(
+                                ServoPositions.transferServo_out
+                        );
+
+                        if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+
+                            holdBallsTicker++;
+                        }
+
+                        if (holdBallsTicker > 10){
+                            setRapidMode(RapidMode.TRANSFER_OFF);
+                            holdBallsTicker = 0;
+                        }
+
+                        break;
+
+                    case TRANSFER_OFF:
+
+                        if (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed()) {
+                            setRapidMode(RapidMode.BEFORE_PULSE_OUT);
+                        }
+                        robot.setTransferPower(-0.3);
+
+                        break;
+
+                    case BEFORE_PULSE_OUT:
+
+                        robot.setIntakePower(1.0);
+
+                        if (stateTime() >= 300) {
+                            setRapidMode(RapidMode.PULSE_OUT);
+                        }
+
+                        break;
+
+                    case PULSE_OUT:
+
+                        robot.setIntakePower(-0.1);
+
+                        if (stateTime() >= pulseTime) {
+                            setRapidMode(RapidMode.PULSE_IN);
+                        }
+
+                        break;
+
+                    case PULSE_IN:
+
+                        robot.setIntakePower(1.0);
+
+                        if (stateTime() >= 200) {
+                            setRapidMode(RapidMode.HOLD_BALLS);
+                        }
+
+
+                        break;
+
+                    case HOLD_BALLS:
+
+                        if (robot.insideBeam.isPressed()
+                                && robot.outsideBeam.isPressed()) {
+
+                            robot.setTransferPower(0);
+                            robot.setIntakePower(0.1);
+                            robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+                        } else {
+                            holdBallsTicker++;
+                            robot.setIntakePower(1);
+                        }
+                        break;
+
+                    case OPEN_GATE:
+
+                        if (stateTime() >= 100) {
+                            setRapidMode(RapidMode.SHOOT);
+                        }
+
+                        robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Open
+                        );
+
+                        if (Shooter.manualFlywheel) {
+                            robot.setTransferPower(NewShooterTest.transferPower);
+                            robot.setIntakePower(-NewShooterTest.transferPower);
+                        } else {
+                            robot.setTransferPower(commander.getTransferPow());
+                            robot.setIntakePower(-commander.getTransferPow());
+                        }
+
+                        break;
+
+                    case SHOOT:
+
+                        if (stateTime() >= 500) {
+                            setRapidMode(RapidMode.INTAKE);
+                        }
+
+                        if (Shooter.manualFlywheel) {
+                            robot.setTransferPower(NewShooterTest.transferPower);
+                            robot.setIntakePower(-NewShooterTest.transferPower);
+                        } else {
+                            robot.setTransferPower(commander.getTransferPow());
+                            robot.setIntakePower(-commander.getTransferPow());
+                        }
+
+                        holdBallsTicker = 0;
+
+                        break;
+                }
+                break;
+
+            case SORTED:
+
+                robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Open);
+
+                switch (sortedIntakeStates) {
+                    case NOTHING:
+                        break;
+                    case IDLE:
+                        ballColors[0] = BallStates.UNKNOWN;
+                        ballColors[1] = BallStates.UNKNOWN;
+                        ballColors[2] = BallStates.UNKNOWN;
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Open
+                        );
+                        robot.setSpindexBlockerPos(
+                                ServoPositions.spindexBlocker_Closed
+                        );
+                        robot.setSpinPos(
+                                ServoPositions.spindexer_A1
+                        );
+                        robot.setTransferServoPos(
+                                ServoPositions.transferServo_out
+                        );
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-0.7);
+                        if (sortedStateTime() > 200) {
+                            setSortedIntakeMode(SortedIntakeStates.INTAKE_1);
+                        }
+                        break;
+                    case INTAKE_1:
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-0.7);
+                        if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+                            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+                            if ((revColor.green / (revColor.red + revColor.blue + revColor.green)) > greenThresh) {
+                                greenTicks++;
+                            }
+                            ballTicks++;
+                            if (ballTicks > 15) {
+                                if (greenTicks > 10){
+                                    ballColors[0] = BallStates.GREEN;
+                                } else {
+                                    ballColors[0] = BallStates.PURPLE;
+                                }
+                                robot.setSpinPos(ServoPositions.spindexer_A2);
+                                setSortedIntakeMode(SortedIntakeStates.DELAY_1);
+                                ballTicks = 0;
+                                greenTicks = 0;
+                            }
+                        }
+                        break;
+                    case DELAY_1:
+                        robot.setSpinPos(ServoPositions.spindexer_A2);
+                        if (sortedStateTime() > spinMovementTime) {
+                            setSortedIntakeMode(SortedIntakeStates.INTAKE_2);
+                        }
+                        break;
+                    case INTAKE_2:
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-1);
+                        if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+                            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+                            if ((revColor.green / (revColor.red + revColor.blue + revColor.green)) > greenThresh) {
+                                greenTicks++;
+                            }
+                            ballTicks++;
+                            if (ballTicks > 15) {
+                                if (greenTicks > 10){
+                                    ballColors[1] = BallStates.GREEN;
+                                } else {
+                                    ballColors[1] = BallStates.PURPLE;
+                                }
+                                robot.setSpinPos(ServoPositions.spindexer_A3);
+                                setSortedIntakeMode(SortedIntakeStates.DELAY_2);
+                                ballTicks = 0;
+                                greenTicks = 0;
+                            }
+                        }
+                        break;
+                    case DELAY_2:
+
+                        robot.setSpinPos(
+                                ServoPositions.spindexer_A3
+                        );
+
+                        if (sortedStateTime() > spinMovementTime) {
+                            setSortedIntakeMode(
+                                    SortedIntakeStates.INTAKE_3
+                            );
+                        }
+
+                        break;
+                    case INTAKE_3:
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-1);
+                        if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
+                            NormalizedRGBA revColor = robot.revSensor.getNormalizedColors();
+                            if ((revColor.green / (revColor.red + revColor.blue + revColor.green)) > greenThresh) {
+                                greenTicks++;
+                            }
+                            ballTicks++;
+                            if (ballTicks > 15) {
+                                if (greenTicks > 10){
+                                    ballColors[2] = BallStates.GREEN;
+                                } else {
+                                    ballColors[2] = BallStates.PURPLE;
+                                }
+                                setSortedIntakeMode(SortedIntakeStates.REVERSE);
+                                ballTicks = 0;
+                                greenTicks = 0;
+                            }
+                        }
+                        break;
+                    case REVERSE:
+                        robot.setTransferPower(-0.3);
+                        robot.setIntakePower(-0.1);
+                        break;
+                }
+
+
+                break;
+            case SHOOT_SORTED:
+
+                robot.setRapidFireBlockerPos(ServoPositions.rapidFireBlocker_Open);
+                if (Shooter.manualFlywheel) {
+                    robot.setTransferPower(NewShooterTest.transferPower);
+                } else {
+                    robot.setTransferPower(commander.getTransferPow());
+                }
+
+
+                switch (shootState) {
+                    case IDLE:
+                        shootOrder = buildShootOrder(
+                                ballColors,
+                                desiredPattern
+                        );
+
+                        setShootState(SortedShootState.MOVE_TO_1);
+                        mode = SpindexerMode.SHOOT_SORTED;
+                        break;
+                    case MOVE_TO_1:
+
+                        moveToSlot(shootOrder[0]);
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Open
+                        );
+                        robot.setSpindexBlockerPos(
+                                ServoPositions.spindexBlocker_Closed
+                        );
+
+
+                        setShootState(
+                                SortedShootState.WAIT_FOR_1
+                        );
+
+                        break;
+                    case WAIT_FOR_1:
+
+                        if (shootStateTime() > 400) {
+
+                            setShootState(
+                                    SortedShootState.SHOOT_1
+                            );
+                        }
+
+                        break;
+
+                    case SHOOT_1:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+                        robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+
+                        if (shootStateTime() > 300) {
+
+                            setShootState(
+                                    SortedShootState.RETRACT_1
+                            );
+                        }
+
+                        break;
+                    case RETRACT_1:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Closed);
+                        robot.setTransferServoPos(ServoPositions.transferServo_out);
+
+                        if (shootStateTime() > 150) {
+
+                            setShootState(
+                                    SortedShootState.MOVE_TO_2
+                            );
+                        }
+
+                        break;
+                    case MOVE_TO_2:
+
+                        moveToSlot(shootOrder[1]);
+
+                        setShootState(
+                                SortedShootState.WAIT_FOR_2
+                        );
+
+                        break;
+                    case WAIT_FOR_2:
+
+                        if (shootStateTime() > 400) {
+
+                            setShootState(
+                                    SortedShootState.SHOOT_2
+                            );
+                        }
+
+                        break;
+                    case SHOOT_2:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+                        robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+                        if (shootStateTime() > 300) {
+
+                            setShootState(
+                                    SortedShootState.RETRACT_2
+                            );
+                        }
+
+                        break;
+                    case RETRACT_2:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Closed);
+                        robot.setTransferServoPos(ServoPositions.transferServo_out);
+
+
+                        if (shootStateTime() > 150) {
+
+                            setShootState(
+                                    SortedShootState.MOVE_TO_3
+                            );
+                        }
+
+                        break;
+                    case MOVE_TO_3:
+
+                        moveToSlot(shootOrder[2]);
+
+                        setShootState(
+                                SortedShootState.WAIT_FOR_3
+                        );
+
+                        break;
+                    case WAIT_FOR_3:
+
+                        if (shootStateTime() > 400) {
+
+                            setShootState(
+                                    SortedShootState.SHOOT_3
+                            );
+                        }
+
+                        break;
+                    case SHOOT_3:
+
+                        robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+                        robot.setTransferServoPos(ServoPositions.transferServo_in);
+
+                        if (shootStateTime() > 300) {
+
+                            setShootState(
+                                    SortedShootState.RETRACT_3
+                            );
+                        }
+
+                        break;
+                    case RETRACT_3:
+
+                        robot.setTransferServoPos(ServoPositions.transferServo_out);
+
+                        if (shootStateTime() > 150) {
+
+                            setShootState(
+                                    SortedShootState.DONE
+                            );
+                        }
+
+                        break;
+                    case DONE:
+
+                        robot.setRapidFireBlockerPos(
+                                ServoPositions.rapidFireBlocker_Open
+                        );
+                        robot.setSpindexBlockerPos(
+                                ServoPositions.spindexBlocker_Closed
+                        );
+                        robot.setSpinPos(
+                                ServoPositions.spindexer_A1
+                        );
+                        robot.setTransferServoPos(
+                                ServoPositions.transferServo_out
+                        );
+                        robot.setIntakePower(1);
+                        robot.setTransferPower(-0.7);
+
+                        if (shootStateTime() > 250) {
+
+                            setSortedIntakeMode(
+                                    SortedIntakeStates.IDLE
+                            );
+
+                            mode = SpindexerMode.SORTED;
+                        }
+
+                        break;
+
+                }
+
+
+                break;
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java

@@ -0,0 +1,181 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.arcrobotics.ftclib.controller.PIDController;
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.robotcore.util.Range;
+
+
+import org.firstinspires.ftc.teamcode.constants.Color;
+
+import java.util.List;
+
+@Config
+public class Turret {
+    Robot robot;
+
+    private final double servoTicksPer180 = 0.58;
+    public static double neutralPosition = 0.51;
+    private final double turretMin = 0.05;
+    private final double turretMax = 0.95;
+    public static boolean limelightUsed = true;
+    public static double B_PID_P = 0.0001, B_PID_I = 0.0, B_PID_D = 0.000005;
+    LLResult result;
+    PIDController bearingPID;
+    boolean bearingAligned = false;
+    public int LL_COAST_TICKS = 5;
+    public static double TARGET_POSITION_TOLERANCE = 0.65;
+    public static double alphaTX = 0.5;
+    private double targetTx = 0;
+    private double currentTrackOffset = 0;
+    private double llCoast = 0;
+    private double servoAngle = 0.51;
+    double tx = 0.0;
+    private final double hVelK = 0; // TODO: Tune
+    private final double xVelK = 0; // TODO: Tune
+    private final double xAccK = 0; // TODO: Tune
+    private final double yVelK = 0; // TODO: Tune
+    private final double yAccK = 0; // TODO: Tune
+
+    private int obeliskID = 0;
+
+
+
+    public Turret(Robot rob) {
+        this.robot = rob;
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D);
+    }
+
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) angle -= 2.0 * Math.PI;
+        while (angle < -Math.PI) angle += 2.0 * Math.PI;
+        return angle;
+    }
+
+    private void limelightRead() { // only for tracking purposes, not general reads
+        switchPipeline(PipelineMode.TRACKING);
+        result = robot.limelight.getLatestResult();
+        tx = 1000;
+        if (result != null) {
+            if (result.isValid()) {
+                tx = result.getTx();
+            }
+        }
+    }
+
+    public double getTX(){return tx;}
+
+    public enum PipelineMode{
+        OBELISK,
+        TRACKING
+    }
+
+    private int prevPipeline = 0;
+    public void switchPipeline(PipelineMode pipelineMode){
+        int pipeline = 0;
+        if (pipelineMode == PipelineMode.OBELISK){
+            pipeline = 1;
+        } else if (pipelineMode == PipelineMode.TRACKING){
+            if (Color.redAlliance){
+                pipeline = 4;
+            } else {
+                pipeline = 2;
+            }
+        }
+        if (pipeline != prevPipeline){
+            robot.limelight.pipelineSwitch(pipeline);
+        }
+        prevPipeline = pipeline;
+    }
+    public int pipeline(){return prevPipeline;}
+
+    public void trackObelisk(double dx, double dy, double h) {
+
+        double heading = wrapAngle(h);
+
+        double fieldRelativeHeading = Math.atan2(dy, dx);
+
+        double desiredAngle = fieldRelativeHeading - heading;
+        double angleDelta = desiredAngle - Math.PI;
+        angleDelta = wrapAngle(angleDelta);
+
+        double servoTicksFromNeutral = (angleDelta / (2.0 * Math.PI)) * (2.0 * servoTicksPer180);
+
+        double servoAngle = neutralPosition + servoTicksFromNeutral;
+
+        servoAngle = Range.clip(servoAngle, turretMin, turretMax);
+
+        robot.setTurretPos(servoAngle);
+
+        detectObelisk();
+
+    }
+
+    public int getObeliskID() {
+        return obeliskID;
+    }
+
+    public void detectObelisk() {
+        result = robot.limelight.getLatestResult();
+        if (result != null && result.isValid()) {
+            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                obeliskID = fiducial.getFiducialId();
+            }
+        }
+    }
+
+    public void manual (double pos) {
+        robot.setTurretPos(pos);
+    }
+
+    public void trackGoal(double dx, double dy, double h, double hVel, double xVel, double xAcc, double yVel, double yAcc) {
+        // dx, dy, dz is target - robot
+        // h is the raw heading where 0 degrees is positive x in the system of x, y
+
+        bearingPID = new PIDController(B_PID_P, B_PID_I, B_PID_D); // Keep when debugging/tuning, comment out when doing teleop
+
+        double predictedDx = dx - (xVel * xVelK) - (0.5 * xAcc * xAccK); // Negative bc dx = target - robot
+        double predictedDy = dy - (yVel * yVelK) - (0.5 * yAcc * yAccK);  // Negative bc dy = target - robot
+        double predictedH = h + (hVel * hVelK); // Positive bc h = robot heading
+
+        predictedH = wrapAngle(predictedH);
+
+        double fieldRelativeHeading = Math.atan2(predictedDy, predictedDx);
+
+        double angleDelta = fieldRelativeHeading - predictedH;
+        angleDelta = wrapAngle(angleDelta) / (2.0 * Math.PI);
+
+        double bearingOffset = 0;
+        if (limelightUsed && servoAngle > turretMin && servoAngle < turretMax){
+            limelightRead();
+            if (result.isValid() && tx < 100){
+                targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
+                bearingAligned = Math.abs(targetTx) < TARGET_POSITION_TOLERANCE;
+                if (!bearingAligned){
+                    bearingOffset = (bearingPID.calculate(targetTx, 0.0));
+                }
+            } else {
+                targetTx = 0;
+                bearingOffset = 0;
+            }
+            currentTrackOffset += bearingOffset;
+            llCoast = LL_COAST_TICKS;
+        } else {
+            if (llCoast <= 0){
+                currentTrackOffset = 0;
+            } else {
+                llCoast--;
+            }
+        }
+
+        double servoTicksFromNeutral = (angleDelta+currentTrackOffset) * (2.0 * servoTicksPer180);
+
+        servoAngle = neutralPosition + servoTicksFromNeutral;
+
+        servoAngle = Range.clip(servoAngle, turretMin, turretMax);
+
+        robot.setTurretPos(servoAngle);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/VelocityCommander.java

@@ -0,0 +1,112 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class VelocityCommander {
+    public static double xVelK = 0.05; // TODO: Tune
+    public static double xAccK = 0.025; // TODO: Tune
+    public static double yVelK = 0.05; // TODO: Tune
+    public static double yAccK = 0.025; // TODO: Tune
+    public static boolean lockFront = false;
+    public static boolean lockBack = false;
+    public static int farBound = 140;
+    public static int closeBound = 110;
+    public static double errorHoodAdjustment = 0.0005;
+    private double hoodPos = 0.88;
+    private double transferPow = -1;
+    private int velo = 0;
+
+    public VelocityCommander() {}
+
+    final double veloA = -0.00000133612;
+    final double veloB = 0.000542733;
+    final double veloC = -0.0739531;
+    final double veloD = 5.16759;
+    final double veloE = 62.45781;
+    private double distToRPM (double dist){
+        double currentVelo;
+        if (lockFront && dist > closeBound){
+            dist = closeBound;
+        } else if (lockBack && dist < farBound){
+            dist = farBound;
+        }
+        if (dist < 54) {
+            velo = 2000;
+        } else if (dist > 181){
+            velo = 3600;
+        } else {
+            currentVelo = veloA*Math.pow(dist, 4) +
+                    veloB*Math.pow(dist, 3) +
+                    veloC*Math.pow(dist, 2) +
+                    veloD*Math.pow(dist, 1) +
+                    veloE;
+            velo = 10 * Math.round((float) Math.max(200, Math.min(360, currentVelo)));
+        }
+        return velo;
+    }
+
+    final double hoodA = 9.04203*Math.pow(10, -8);
+    final double hoodB = -0.0000204165;
+    final double hoodC = -0.00252089;
+    final double hoodD = 1.06154;
+    private void distToHood (double dist){
+        if (dist > 174){
+            hoodPos = 0.48;
+        } else if (dist < 54){
+            hoodPos = 0.88;
+        } else {
+            hoodPos = hoodA*Math.pow(dist, 3) +
+                    hoodB*Math.pow(dist, 2) +
+                    hoodC*Math.pow(dist, 1) +
+                    hoodD;
+        }
+        hoodPos = Math.max(0.48, Math.min(0.88, hoodPos));
+    }
+    public double getHoodPredicted(){
+        return hoodPos;
+    }
+
+    private void distToTransferPow(double dist, double voltage){
+        if (dist < 140){
+            transferPow = -0.8;
+        } else {
+            transferPow = -0.5;
+        }
+    }
+    public double getTransferPow(){return transferPow;}
+
+    // 27
+    public double getVeloStationary (double distance){
+        return distToRPM(distance);
+    }
+
+    double predictedDist = 0;
+    public void getVeloPredictive(double dx, double dy, double xVel, double xAcc, double yVel, double yAcc, double voltage, double velocity) {
+
+        double predictedDx = dx - (xVel * xVelK) - (0.5 * xAcc * xAccK); // Negative bc dx = target - robot
+        double predictedDy = dy - (yVel * yVelK) - (0.5 * yAcc * yAccK);  // Negative bc dy = target - robot
+
+        double goalHeight = 28;
+        predictedDist = Math.sqrt(predictedDx*predictedDx + predictedDy*predictedDy + goalHeight * goalHeight);
+
+        distToHood(predictedDist);
+        distToTransferPow(predictedDist, voltage);
+        distToRPM(predictedDist);
+
+        hoodPos += adjustHood(predictedDist, velocity, velo);
+    }
+
+    public double adjustHood(double dist, double currentVelocity, double targetVelocity){
+        double error = targetVelocity - currentVelocity;
+        if (dist < farBound || error < 0){
+            error = 0;
+        }
+        System.out.println("Error "+ error);
+        return error * errorHoodAdjustment;
+    }
+
+    public double getPredictedRPM(){return velo;}
+
+    public double getDistance(){return predictedDist;}
+}

build.dependencies.gradle

@@ -6,7 +6,6 @@ repositories {
     maven { url = 'https://maven.brott.dev/' } //RR
     maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
     maven { url = "https://repo.dairy.foundation/releases" } //AS
-
 }
 
 dependencies {
@@ -22,11 +21,9 @@ dependencies {
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
 
-    implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
+    implementation 'com.pedropathing:ftc:2.1.1'
-    implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
+    implementation 'com.pedropathing:telemetry:1.0.0'
-    implementation 'com.bylazar:fullpanels:1.0.2' //Panels
+    implementation 'com.bylazar:fullpanels:1.0.12'
-
-
     implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB
 
     implementation 'com.rowanmcalpin.nextftc:core:0.6.2' //NEXT FTC