teleop tweaks

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

@@ -390,6 +390,9 @@ public class Auto12Ball_Back_Sorted extends LinearOpMode {
         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());
 

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

@@ -283,6 +283,10 @@ public class Auto15Ball_Back extends LinearOpMode {
 
         boolean initializeRobot = false;
         while (opModeInInit()){
+
+            park.unpark();
+            robot.setSpindexBlockerPos(ServoPositions.spindexBlocker_Open);
+
             follower.update();
 
             if (gamepad1.squareWasPressed()){

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

@@ -35,13 +35,16 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
     Flywheel flywheel;
     VelocityCommander commander;
     SpindexerTransferIntake spindexer;
+    double runtime = 0;
 
     // Wait Times
-    public static double rapidWaitTime = 0.5;
+    public static double rapidWaitTime = 0.4;
-    public static double rapidShootTime = 0.8;
+    public static double rapidShootTime = 0.45;
     public static double openGate1Time = 1.5;
     public static double openGate2Time = 1.5;
-    public static double openGateWaitTime = 5;
+    public static double openGateWaitTimeMax = 3;
+    public static double openGateWaitTimeMin = 1.75;
+    public static int maxLoopCycles = 3;
 
     // Initialize path state machine
     private enum PathState {
@@ -53,46 +56,48 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
     PathState pathState = PathState.DRIVE_SHOOT0;
 
     // Poses
-    public static double startPoseX = 55, startPoseY = 38, startPoseH = -90;
+    public static double startPoseX = 55, startPoseY = 39, startPoseH = 0;
-    public static double shoot0X = 18, shoot0Y = 18, shoot0H = -30;
+    public static double shoot0X = 25, shoot0Y = 18, shoot0H = 0;
-    public static double pickup1ControlX = 101.53321878579611, pickup1ControlY = 81.84077892325314;
+    public static double pickup1ControlX = 29.53321878579611, pickup1ControlY = 9.84077892325314;
-    public static double pickup1X = 54, pickup1Y = 10, pickup1H = 0;
+    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 = 18, shoot1Y = 11, shoot1H = -30;
+    public static double shoot1X = 25, shoot1Y = 11, shoot1H = -30;
-    public static double pickup2ControlX = 18, pickup2ControlY = -11;
+    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 = 18, shoot2Y = 11, shoot2H = -30;
+    public static double shoot2X = 25, shoot2Y = 11, shoot2H = -30;
-    public static double intakeGateControlX = 59, intakeGateControlY = 60;
+    public static double intakeGateControlX = 61, intakeGateControlY = -11;
-    public static double intakeGateX = 59, intakeGateY = -12, intakeGateH = 20;
+    public static double intakeGateX = 61, intakeGateY = -11, intakeGateH = 20;
-    public static double shootGateControlX = 59, shootGateControlY = -12;
+    public static double shootGateControlX = 56, shootGateControlY = -10;
-    public static double shootGateX = 18, shootGateY = 11, shootGateH = -30;
+    public static double shootGateX = 25, shootGateY = 11, shootGateH = -30;
-    public static double shootLeaveControlX = 59, shootLeaveControlY = -12;
+    public static double shootLeaveControlX = 56, shootLeaveControlY = -10;
-    public static double shootLeaveX = 14, shootLeaveY = 40, shootLeaveH = -50;
+    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};
+            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};
+            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};
+            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;
+            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]));
@@ -114,12 +119,14 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
         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;
+        shoot2_intakeGate, intakeGate_shootGate, shootGate_intakeGate, intakeGate_shootLeave, shootGate_leave, intakeGate_awayFromGate;
     private void buildPaths(){
         startPose_shoot0 = follower.pathBuilder()
                 .addPath(new BezierLine(startPose, shoot0))
@@ -175,18 +182,29 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
                 .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(2400);
+                shooter.setFlywheelVelocity(2300);
-                robot.setHoodPos(0.64);
+                robot.setHoodPos(0.68);
                 if (startAuto){
                     follower.followPath(startPose_shoot0, false);
                     startAuto = false;
@@ -241,7 +259,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
             case PICKUP2:
                 if (!follower.isBusy()){
                     follower.followPath(pickup2_openGate2, false);
-                    pathState = PathState.DRIVE_SHOOT2;
+                    pathState = PathState.OPENGATE2;
                     timeStamp = currentTime;
                 }
                 break;
@@ -271,9 +289,18 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
                 }
                 break;
             case INTAKE_GATE:
-                if (currentTime - timeStamp > openGateWaitTime){
+                if ((currentTime - timeStamp > openGateWaitTimeMax || (robot.insideBeam.isPressed() && robot.outsideBeam.isPressed()))
-                    follower.followPath(openGate1_shoot1, false);
+                        && (currentTime - timeStamp > openGateWaitTimeMin)){
-                    pathState = PathState.DRIVE_SHOOT1;
+                    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
@@ -291,8 +318,14 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
                 if (currentTime - timeStamp > rapidShootTime ||
                         (spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.OPEN_GATE &&
                                 spindexer.getRapidState() != SpindexerTransferIntake.RapidMode.SHOOT)){
-                    follower.followPath(shootGate_intakeGate, false);
+                    cycle++;
-                    pathState = PathState.INTAKE_GATE;
+                    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;
@@ -311,7 +344,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
             default:
                 break;
         }
-        TELE.update(); // use for debugging
+        TELE.addData("Moving?", follower.isBusy());
     }
 
     // Used for changing alliance
@@ -343,6 +376,7 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
         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()){
@@ -391,6 +425,14 @@ public class Auto21Ball_Front_Gate extends LinearOpMode {
         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());
 

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

@@ -33,6 +33,10 @@ public class TeleopV4 extends LinearOpMode {
     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 {
 
@@ -77,16 +81,37 @@ public class TeleopV4 extends LinearOpMode {
         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_stick_x,
+                    gamepad1.left_trigger
             );
 
             if (gamepad1.crossWasPressed()){
@@ -114,7 +139,23 @@ public class TeleopV4 extends LinearOpMode {
             if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
                 shooter.setFlywheelVelocity(2500);
                 robot.setHoodPos(0.6);
-                robot.setTransferPower(-0.8);
+            }
+
+            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());
@@ -131,6 +172,25 @@ public class TeleopV4 extends LinearOpMode {
                             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 &&
@@ -144,6 +204,7 @@ public class TeleopV4 extends LinearOpMode {
 
             if (gamepad1.right_bumper && state != SpindexerTransferIntake.RapidMode.OPEN_GATE && state != SpindexerTransferIntake.RapidMode.SHOOT) {
                 robot.setIntakePower(1);
+                robot.setTransferPower(-0.7);
             }
 
             if (gamepad2.leftBumperWasPressed()){
@@ -159,20 +220,20 @@ public class TeleopV4 extends LinearOpMode {
             }
 
             loopTimes.loop();
-            TELE.addData("Loop Time Average", loopTimes.getAvgLoopTime());
+//            TELE.addData("Loop Time Average", loopTimes.getAvgLoopTime());
-            TELE.addData("Loop Time Max", loopTimes.getMaxLoopTimeOneMin());
+//            TELE.addData("Loop Time Max", loopTimes.getMaxLoopTimeOneMin());
-            TELE.addData("Loop Time Min", loopTimes.getMinLoopTimeOneMin());
+//            TELE.addData("Loop Time Min", loopTimes.getMinLoopTimeOneMin());
-
+//
             TELE.addData("Distance From Goal", commander.getDistance());
-            TELE.addData("Hood Position", commander.getHoodPredicted());
+//            TELE.addData("Hood Position", commander.getHoodPredicted());
-            TELE.addData("Transfer Power", robot.transfer.getPower());
+//            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 Position", currentPose);
-
+//
-            TELE.addData("Current LL Pipeline", turret.pipeline());
+//            TELE.addData("Current LL Pipeline", turret.pipeline());
-
+//
             TELE.update();
         }
 

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

@@ -32,7 +32,7 @@ public class NewShooterTest extends LinearOpMode {
     public static int flywheelVelo = 0;
     public static double hoodPos = 0.5;
     public static double transferPower = -0.8;
-//    public static double turretPos = 0.51;
+    public static boolean overrideTransferPower = false;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -81,16 +81,18 @@ public class NewShooterTest extends LinearOpMode {
             drivetrain.drive(
                     -gamepad1.right_stick_y,
                     gamepad1.right_stick_x,
-                    gamepad1.left_stick_x
+                    gamepad1.left_stick_x,
+                    gamepad1.left_trigger
             );
 
             if (gamepad1.crossWasPressed()){
                 if (Color.redAlliance){
-                    TeleopV4.relocalizePose = new Pose(56, 11, 0);
+                    TeleopV4.relocalizePose = new Pose(57.5, 5, 0);
                 } else {
-                    TeleopV4.relocalizePose = new Pose(-56, 11, 180);
+                    TeleopV4.relocalizePose = new Pose(-57.5, 5, Math.toRadians(180));
                 }
                 follower.setPose(TeleopV4.relocalizePose);
+                sleep(500);
                 gamepad1.rumble(100);
             }
 
@@ -107,7 +109,6 @@ public class NewShooterTest extends LinearOpMode {
             if (shooter.getState() == Shooter.ShooterState.MANUAL_FLYWHEEL_TRACK_TURR || shooter.getState() == Shooter.ShooterState.MANUAL){
                 shooter.setFlywheelVelocity(flywheelVelo);
                 robot.setHoodPos(hoodPos);
-                robot.setTransferPower(transferPower);
             }
 
 
@@ -156,6 +157,7 @@ public class NewShooterTest extends LinearOpMode {
             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());
 

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

@@ -91,7 +91,8 @@ public class SortedSpindexerTest extends LinearOpMode {
             drivetrain.drive(
                     -gamepad1.right_stick_y,
                     gamepad1.right_stick_x,
-                    gamepad1.left_stick_x
+                    gamepad1.left_stick_x,
+                    gamepad1.left_trigger
             );
 
             follower.update();

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

@@ -37,7 +37,7 @@ public class Drivetrain {
         tele = input;
     }
 
-    public void drive(double y, double x, double rx) {
+    public void drive(double y, double x, double rx, double stop) {
 
         boolean snappedForward = false;
         boolean snappedStrafe = false;
@@ -79,18 +79,30 @@ public class Drivetrain {
         robot.setFrontRightPower(frontRightPower);
         robot.setBackRightPower(backRightPower);
 
-        if (tele) {
+        if (stop > 0.5){
-
+            robot.frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-            telemetry.addData("Forward Snap", snappedForward);
+            robot.backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-            telemetry.addData("Strafe Snap", snappedStrafe);
+            robot.frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
+            robot.backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-            telemetry.addData("Correction RX", correctionRX);
-
-            telemetry.addData("FL", frontLeftPower);
-            telemetry.addData("BL", backLeftPower);
-            telemetry.addData("FR", frontRightPower);
-            telemetry.addData("BR", backRightPower);
 
+            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

@@ -1,6 +1,8 @@
 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;
@@ -16,10 +18,20 @@ public class Flywheel {
 
 //    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;
@@ -36,6 +48,8 @@ public class Flywheel {
     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() {
@@ -67,19 +81,23 @@ public class Flywheel {
         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) {
+        if (Math.abs(prevF - f) > voltagePIDFDifference && !steady) {
             shooterPIDF.f = f;
             robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF);
-            prevF = f;
         }
+        prevF = f;
     }
 
     // Convert from RPM to Ticks per Second
@@ -92,25 +110,30 @@ public class Flywheel {
         return (TPS * 60.0) / 28.0;
     }
 
+    double ALPHA = 0.3;
     private void updateVelocityAverage(double newVelocity) {
 
-        velocityHistory.add(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();
 
-        int velocityHistorySize = 5;
+        averageVelocity = ALPHA * newVelocity + (1 - ALPHA) * averageVelocity;
-        if (velocityHistory.size() > velocityHistorySize) {
-            velocityHistory.removeFirst();
-        }
-
-        double sum = 0.0;
-
-        for (double v : velocityHistory) {
-            sum += v;
-        }
-
-        averageVelocity = sum / velocityHistory.size();
     }
 
     double power;
+    double prevTargetTime = 0;
+    double prevTargetVelocity = 0;
     public void manageFlywheel(double commandedVelocity) {
 
         if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
@@ -125,13 +148,12 @@ public class Flywheel {
 
         velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
 
-        velo = (velo1 + velo2) / 2.0;
+        velo = velo1;
 
         updateVelocityAverage(velo);
 
         steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
     }
 
-
     public double getShooterPower(){return power;}
 }

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

@@ -104,7 +104,8 @@ public class Shooter {
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
                         follow.getAcceleration().getYComponent(),
-                        voltage
+                        voltage,
+                        fly.getAverageVelocity()
                 );
 
                 fly.manageFlywheel(flywheelVelocity);
@@ -131,7 +132,8 @@ public class Shooter {
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
                         follow.getAcceleration().getYComponent(),
-                        voltage
+                        voltage,
+                        fly.getAverageVelocity()
                 );
 
                 flywheelVelocity = commander.getPredictedRPM();
@@ -153,7 +155,8 @@ public class Shooter {
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
                         follow.getAcceleration().getYComponent(),
-                        voltage
+                        voltage,
+                        fly.getAverageVelocity()
                 );
 
                 flywheelVelocity = commander.getPredictedRPM();
@@ -172,7 +175,8 @@ public class Shooter {
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
                         follow.getAcceleration().getYComponent(),
-                        voltage
+                        voltage,
+                        fly.getAverageVelocity()
                 );
 
                 flywheelVelocity = commander.getPredictedRPM();
@@ -200,7 +204,8 @@ public class Shooter {
                         follow.getAcceleration().getXComponent(),
                         follow.getVelocity().getYComponent(),
                         follow.getAcceleration().getYComponent(),
-                        voltage
+                        voltage,
+                        fly.getAverageVelocity()
                 );
                 fly.manageFlywheel(flywheelVelocity);
                 fly.setPIDF(shooterPIDF_P, shooterPIDF_I, shooterPIDF_D, shooterPIDF_F / voltage);

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

@@ -276,20 +276,20 @@ public class SpindexerTransferIntake {
     private int holdBallsTicker = 0;
     public void update() {
 
-        TELE.addData("Sorted State", sortedIntakeStates);
+//        TELE.addData("Sorted State", sortedIntakeStates);
-        TELE.addData("Ball0", ballColors[0]);
+//        TELE.addData("Ball0", ballColors[0]);
-        TELE.addData("Ball1", ballColors[1]);
+//        TELE.addData("Ball1", ballColors[1]);
-        TELE.addData("Ball2", ballColors[2]);
+//        TELE.addData("Ball2", ballColors[2]);
-
+//
-        TELE.addData("Shoot0", shootOrder[0]);
+//        TELE.addData("Shoot0", shootOrder[0]);
-        TELE.addData("Shoot1", shootOrder[1]);
+//        TELE.addData("Shoot1", shootOrder[1]);
-        TELE.addData("Shoot2", shootOrder[2]);
+//        TELE.addData("Shoot2", shootOrder[2]);
-
+//
-        TELE.addData("Color0", ballColors[0]);
+//        TELE.addData("Color0", ballColors[0]);
-        TELE.addData("Color1", ballColors[1]);
+//        TELE.addData("Color1", ballColors[1]);
-        TELE.addData("Color2", ballColors[2]);
+//        TELE.addData("Color2", ballColors[2]);
-
+//
-        TELE.addData("Shoot State", shootState);
+//        TELE.addData("Shoot State", shootState);
         
         switch (mode) {
 
@@ -317,9 +317,13 @@ public class SpindexerTransferIntake {
 
                         if (robot.insideBeam.isPressed() && robot.revSensor.getDistance(DistanceUnit.CM) < sensorDistanceThreshold) {
 
-                            setRapidMode(RapidMode.TRANSFER_OFF);
+                            holdBallsTicker++;
                         }
 
+                        if (holdBallsTicker > 10){
+                            setRapidMode(RapidMode.TRANSFER_OFF);
+                            holdBallsTicker = 0;
+                        }
 
                         break;
 
@@ -366,9 +370,11 @@ public class SpindexerTransferIntake {
                     case HOLD_BALLS:
 
                         if (robot.insideBeam.isPressed()
-                                && robot.outsideBeam.isPressed() && holdBallsTicker > 5) {
+                                && robot.outsideBeam.isPressed()) {
 
+                            robot.setTransferPower(0);
                             robot.setIntakePower(0.1);
+                            robot.setTransferServoPos(ServoPositions.transferServo_in);
 
                         } else {
                             holdBallsTicker++;
@@ -378,37 +384,42 @@ public class SpindexerTransferIntake {
 
                     case OPEN_GATE:
 
-                        robot.setRapidFireBlockerPos(
-                                ServoPositions.rapidFireBlocker_Open
-                        );
-
                         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:
 
-                        robot.setTransferServoPos(
+                        if (stateTime() >= 500) {
-                                ServoPositions.transferServo_in
-                        );
-                        if (stateTime() >= 400) {
                             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;

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

@@ -20,12 +20,12 @@ public class Turret {
     private final double turretMin = 0.05;
     private final double turretMax = 0.95;
     public static boolean limelightUsed = true;
-    public static double B_PID_P = 0.0003, B_PID_I = 0.0, B_PID_D = 0.00003;
+    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 = 0.5;
+    public static double TARGET_POSITION_TOLERANCE = 0.65;
     public static double alphaTX = 0.5;
     private double targetTx = 0;
     private double currentTrackOffset = 0;

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

@@ -8,88 +8,71 @@ public class VelocityCommander {
     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() {}
 
-    private final double veloA = -2.703087757*Math.pow(10, -14);
+    final double veloA = -0.00000133612;
-    private final double veloB = 2.904756341*Math.pow(10, -11);
+    final double veloB = 0.000542733;
-    private final double veloC = -1.381814293*Math.pow(10, -8);
+    final double veloC = -0.0739531;
-    private final double veloD = 0.000003829224585;
+    final double veloD = 5.16759;
-    private final double veloE = -0.000684090204;
+    final double veloE = 62.45781;
-    private final double veloF = 0.0822754689;
-    private final double veloG = -6.743119277;
-    private final double veloH = 371.7359504;
-    private final double veloI = -13189.70958;
-    private final double veloJ = 272005.7124;
-    private final double veloK = -2474581.713;
     private double distToRPM (double dist){
-        double currentVelo = 0;
+        double currentVelo;
-        if (dist < 49) {
+        if (lockFront && dist > closeBound){
-            currentVelo = 2000;
+            dist = closeBound;
-        } else if (dist > 165){
+        } else if (lockBack && dist < farBound){
-            velo = 3760;
+            dist = farBound;
-        } else {
+        }
-            currentVelo = veloA*Math.pow(dist, 10) +
+        if (dist < 54) {
-                    veloB*Math.pow(dist, 9) +
+            velo = 2000;
-                    veloC*Math.pow(dist, 8) +
+        } else if (dist > 181){
-                    veloD*Math.pow(dist, 7) +
+            velo = 3600;
-                    veloE*Math.pow(dist, 6) +
+        } else {
-                    veloF*Math.pow(dist, 5) +
+            currentVelo = veloA*Math.pow(dist, 4) +
-                    veloG*Math.pow(dist, 4) +
+                    veloB*Math.pow(dist, 3) +
-                    veloH*Math.pow(dist, 3) +
+                    veloC*Math.pow(dist, 2) +
-                    veloI*Math.pow(dist, 2) +
+                    veloD*Math.pow(dist, 1) +
-                    veloJ*Math.pow(dist, 1) +
+                    veloE;
-                    veloK;
+            velo = 10 * Math.round((float) Math.max(200, Math.min(360, currentVelo)));
         }
-        velo = Math.round((float) Math.max(2000, Math.min(3760, currentVelo)));
         return velo;
     }
 
-    private final double hoodA = -4.3276177*Math.pow(10, -13);
+    final double hoodA = 9.04203*Math.pow(10, -8);
-    private final double hoodB = 2.68062979*Math.pow(10, -10);
+    final double hoodB = -0.0000204165;
-    private final double hoodC = -7.12859632*Math.pow(10, -8);
+    final double hoodC = -0.00252089;
-    private final double hoodD = 0.0000106010785;
+    final double hoodD = 1.06154;
-    private final double hoodE = -0.000960693973;
-    private final double hoodF = 0.0540375808;
-    private final double hoodG = -1.82724027;
-    private final double hoodH = 33.4797545;
-    private final double hoodI = -246.888632;
     private void distToHood (double dist){
-        if (dist > 112){
+        if (dist > 174){
-            hoodPos = 0.35;
+            hoodPos = 0.48;
-        } else if (dist < 49){
+        } else if (dist < 54){
             hoodPos = 0.88;
         } else {
-            hoodPos = hoodA*Math.pow(dist, 8) +
+            hoodPos = hoodA*Math.pow(dist, 3) +
-                    hoodB*Math.pow(dist, 7) +
+                    hoodB*Math.pow(dist, 2) +
-                    hoodC*Math.pow(dist, 6) +
+                    hoodC*Math.pow(dist, 1) +
-                    hoodD*Math.pow(dist, 5) +
+                    hoodD;
-                    hoodE*Math.pow(dist, 4) +
-                    hoodF*Math.pow(dist, 3) +
-                    hoodG*Math.pow(dist, 2) +
-                    hoodH*Math.pow(dist, 1) +
-                    hoodI;
-
-            hoodPos = Math.max(0.35, Math.min(0.88, hoodPos));
         }
+        hoodPos = Math.max(0.48, Math.min(0.88, hoodPos));
     }
     public double getHoodPredicted(){
         return hoodPos;
     }
 
     private void distToTransferPow(double dist, double voltage){
-        if (dist < 118){
+        if (dist < 140){
-            transferPow = -1;
+            transferPow = -0.8;
-        } else if (dist < 125){
-            transferPow = -0.7;
         } else {
             transferPow = -0.5;
         }
-
-//        transferPow = Math.max(-0.5, Math.min(-1, transferPow * (14/voltage)));
     }
     public double getTransferPow(){return transferPow;}
 
@@ -99,7 +82,7 @@ public class VelocityCommander {
     }
 
     double predictedDist = 0;
-    public void getVeloPredictive(double dx, double dy, double xVel, double xAcc, double yVel, double yAcc, double voltage) {
+    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
@@ -110,6 +93,17 @@ public class VelocityCommander {
         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;}