From 9db94c089dbe758638b9ef1bf603bb40fcb870ab Mon Sep 17 00:00:00 2001
From: Ryan Brott <rcbrott@gmail.com>
Date: Sat, 19 Aug 2023 19:29:18 -0700
Subject: [PATCH] Move quickstart files to separate module

---
 TeamCode/build.gradle                         |   3 +
 .../ftc/teamcode/ActionOpMode.java            |  26 --
 .../ftc/teamcode/{util => }/Localizer.java    |   2 +-
 .../ftc/teamcode/MecanumDrive.java            | 110 ++++-----
 .../firstinspires/ftc/teamcode/TankDrive.java |  59 +++--
 .../ftc/teamcode/ThreeDeadWheelLocalizer.java |  38 +--
 .../ftc/teamcode/TwoDeadWheelLocalizer.java   |  29 ++-
 .../org/firstinspires/ftc/teamcode/readme.md  | 131 ----------
 .../teamcode/tuning/AngularRampLogger.java    | 167 -------------
 .../ftc/teamcode/tuning/DriveView.java        | 210 ----------------
 .../ftc/teamcode/tuning/ForwardPushTest.java  |  36 ---
 .../teamcode/tuning/ForwardRampLogger.java    |  96 --------
 .../ftc/teamcode/tuning/LateralPushTest.java  |  41 ----
 .../ftc/teamcode/tuning/LocalizationTest.java |  61 -----
 .../teamcode/tuning/ManualFeedbackTuner.java  |  42 ----
 .../tuning/ManualFeedforwardTuner.java        | 104 --------
 .../tuning/MecanumMotorDirectionDebugger.java |  93 -------
 .../ftc/teamcode/tuning/SplineTest.java       |  37 ---
 .../ftc/teamcode/tuning/TuningFiles.java      | 174 --------------
 .../ftc/teamcode/tuning/TuningOpModes.java    |  47 ----
 .../ftc/teamcode/util/Encoder.java            |  21 --
 .../ftc/teamcode/util/LogFiles.java           | 227 ------------------
 .../teamcode/util/LynxFirmwareVersion.java    | 108 ---------
 .../ftc/teamcode/util/MidpointTimer.java      |  17 --
 .../ftc/teamcode/util/OverflowEncoder.java    |  63 -----
 .../ftc/teamcode/util/Paths.java              |  34 ---
 .../ftc/teamcode/util/RawEncoder.java         |  44 ----
 .../ftc/teamcode/util/RollingThreeMedian.java |  16 --
 28 files changed, 144 insertions(+), 1892 deletions(-)
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ActionOpMode.java
 rename TeamCode/src/main/java/org/firstinspires/ftc/teamcode/{util => }/Localizer.java (77%)
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/AngularRampLogger.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/DriveView.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardPushTest.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardRampLogger.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LateralPushTest.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedforwardTuner.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/MecanumMotorDirectionDebugger.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningFiles.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LogFiles.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxFirmwareVersion.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/MidpointTimer.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OverflowEncoder.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Paths.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RawEncoder.java
 delete mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RollingThreeMedian.java

diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index dd806f2..fee9e96 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -27,6 +27,7 @@ repositories {
     maven {
         url = 'https://maven.brott.dev/'
     }
+    mavenLocal()
 }
 
 dependencies {
@@ -38,4 +39,6 @@ dependencies {
     implementation 'com.acmerobotics.roadrunner:actions:1.0.0-beta2'
 
     implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7'
+
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.0-SNAPSHOT"
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ActionOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ActionOpMode.java
deleted file mode 100644
index 6142bd9..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ActionOpMode.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-public abstract class ActionOpMode extends LinearOpMode {
-    private final FtcDashboard dash = FtcDashboard.getInstance();
-
-    protected void runBlocking(Action a) {
-        Canvas c = new Canvas();
-        a.preview(c);
-
-        boolean b = true;
-        while (b && !isStopRequested()) {
-            TelemetryPacket p = new TelemetryPacket();
-            p.fieldOverlay().getOperations().addAll(c.getOperations());
-
-            b = a.run(p);
-
-            dash.sendTelemetryPacket(p);
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Localizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Localizer.java
similarity index 77%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Localizer.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Localizer.java
index c04ad80..974ab79 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Localizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Localizer.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.util;
+package org.firstinspires.ftc.teamcode;
 
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.Twist2dDual;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
index 6a8009f..7021624 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -23,6 +23,12 @@ import com.acmerobotics.roadrunner.TurnConstraints;
 import com.acmerobotics.roadrunner.Twist2dDual;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
+import com.acmerobotics.roadrunner.ftc.Encoder;
+import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.LynxFirmware;
+import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -32,12 +38,6 @@ import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.util.LogFiles;
-import org.firstinspires.ftc.teamcode.util.Encoder;
-import org.firstinspires.ftc.teamcode.util.Localizer;
-import org.firstinspires.ftc.teamcode.util.LynxFirmwareVersion;
-import org.firstinspires.ftc.teamcode.util.OverflowEncoder;
-import org.firstinspires.ftc.teamcode.util.RawEncoder;
 
 import java.lang.Math;
 import java.util.Arrays;
@@ -46,49 +46,52 @@ import java.util.List;
 
 @Config
 public final class MecanumDrive {
-    // drive model parameters
-    public static double IN_PER_TICK = 0;
-    public static double LATERAL_IN_PER_TICK = 1;
-    public static double LATERAL_MULTIPLIER = IN_PER_TICK / LATERAL_IN_PER_TICK;
-    public static double TRACK_WIDTH_TICKS = 0;
+    public static class Params {
+        // drive model parameters
+        public double inPerTick = 0;
+        public double lateralInPerTick = 1;
+        public double trackWidthTicks = 0;
 
-    // feedforward parameters in tick units
-    public static double kS = 0;
-    public static double kV = 0;
-    public static double kA = 0;
+        // feedforward parameters in tick units
+        public double kS = 0;
+        public double kV = 0;
+        public double kA = 0;
 
-    // path profile parameters
-    public static double MAX_WHEEL_VEL = 50;
-    public static double MIN_PROFILE_ACCEL = -30;
-    public static double MAX_PROFILE_ACCEL = 50;
+        // path profile parameters
+        public double maxWheelVel = 50;
+        public double minProfileAccel = -30;
+        public double maxProfileAccel = 50;
 
-    // turn profile parameters
-    public static double MAX_ANG_VEL = Math.PI; // shared with path
-    public static double MAX_ANG_ACCEL = Math.PI;
+        // turn profile parameters
+        public double maxAngVel = Math.PI; // shared with path
+        public double maxAngAccel = Math.PI;
 
-    // path controller gains
-    public static double AXIAL_GAIN = 0.0;
-    public static double LATERAL_GAIN = 0.0;
-    public static double HEADING_GAIN = 0.0; // shared with turn
+        // path controller gains
+        public double axialGain = 0.0;
+        public double lateralGain = 0.0;
+        public double headingGain = 0.0; // shared with turn
 
-    public static double AXIAL_VEL_GAIN = 0.0;
-    public static double LATERAL_VEL_GAIN = 0.0;
-    public static double HEADING_VEL_GAIN = 0.0; // 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(
-            IN_PER_TICK * TRACK_WIDTH_TICKS, LATERAL_MULTIPLIER);
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
 
-    public final MotorFeedforward feedforward = new MotorFeedforward(kS, kV / IN_PER_TICK, kA / IN_PER_TICK);
+    public final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS, PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
 
     public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            MAX_ANG_VEL, -MAX_ANG_ACCEL, MAX_ANG_ACCEL);
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
     public final VelConstraint defaultVelConstraint =
             new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(MAX_WHEEL_VEL),
-                    new AngularVelConstraint(MAX_ANG_VEL)
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
             ));
     public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(MIN_PROFILE_ACCEL, MAX_PROFILE_ACCEL);
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
 
     public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
 
@@ -99,8 +102,6 @@ public final class MecanumDrive {
     public final Localizer localizer;
     public Pose2d pose;
 
-    public final double inPerTick = IN_PER_TICK;
-
     private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
 
     public class DriveLocalizer implements Localizer {
@@ -125,10 +126,10 @@ public final class MecanumDrive {
 
         @Override
         public Twist2dDual<Time> update() {
-            Encoder.PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
-            Encoder.PositionVelocityPair leftRearPosVel = leftRear.getPositionAndVelocity();
-            Encoder.PositionVelocityPair rightRearPosVel = rightRear.getPositionAndVelocity();
-            Encoder.PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
+            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
+            PositionVelocityPair leftRearPosVel = leftRear.getPositionAndVelocity();
+            PositionVelocityPair rightRearPosVel = rightRear.getPositionAndVelocity();
+            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
 
             Rotation2d heading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
             double headingDelta = heading.minus(lastHeading);
@@ -137,19 +138,19 @@ public final class MecanumDrive {
                     new DualNum<Time>(new double[]{
                             (leftFrontPosVel.position - lastLeftFrontPos) + kinematics.trackWidth * headingDelta,
                             leftFrontPosVel.velocity,
-                    }).times(inPerTick),
+                    }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (leftRearPosVel.position - lastLeftRearPos) + kinematics.trackWidth * headingDelta,
                             leftRearPosVel.velocity,
-                    }).times(inPerTick),
+                    }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (rightRearPosVel.position - lastRightRearPos) - kinematics.trackWidth * headingDelta,
                             rightRearPosVel.velocity,
-                    }).times(inPerTick),
+                    }).times(PARAMS.inPerTick),
                     new DualNum<Time>(new double[]{
                             (rightFrontPosVel.position - lastRightFrontPos) - kinematics.trackWidth * headingDelta,
                             rightFrontPosVel.velocity,
-                    }).times(inPerTick)
+                    }).times(PARAMS.inPerTick)
             ));
 
             lastLeftFrontPos = leftFrontPosVel.position;
@@ -169,8 +170,7 @@ public final class MecanumDrive {
     public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
         this.pose = pose;
 
-        LynxFirmwareVersion.throwIfAnyModulesBelowVersion(hardwareMap,
-                new LynxFirmwareVersion(1, 8, 2));
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
 
         for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
@@ -195,6 +195,8 @@ public final class MecanumDrive {
         voltageSensor = hardwareMap.voltageSensor.iterator().next();
 
         localizer = new DriveLocalizer();
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
     }
 
     public void setDrivePowers(PoseVelocity2d powers) {
@@ -257,8 +259,8 @@ public final class MecanumDrive {
             PoseVelocity2d robotVelRobot = updatePoseEstimate();
 
             PoseVelocity2dDual<Time> command = new HolonomicController(
-                    AXIAL_GAIN, LATERAL_GAIN, HEADING_GAIN,
-                    AXIAL_VEL_GAIN, LATERAL_VEL_GAIN, HEADING_VEL_GAIN
+                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
+                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
             )
                     .compute(txWorldTarget, pose, robotVelRobot);
 
@@ -269,7 +271,7 @@ public final class MecanumDrive {
             rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
             rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
 
-            LogFiles.recordTargetPose(txWorldTarget.value());
+            FlightRecorder.write("TARGET_POSE", new PoseMessage(txWorldTarget.value()));
 
             p.put("x", pose.position.x);
             p.put("y", pose.position.y);
@@ -338,8 +340,8 @@ public final class MecanumDrive {
             PoseVelocity2d robotVelRobot = updatePoseEstimate();
 
             PoseVelocity2dDual<Time> command = new HolonomicController(
-                    AXIAL_GAIN, LATERAL_GAIN, HEADING_GAIN,
-                    AXIAL_VEL_GAIN, LATERAL_VEL_GAIN, HEADING_VEL_GAIN
+                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
+                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
             )
                     .compute(txWorldTarget, pose, robotVelRobot);
 
@@ -350,7 +352,7 @@ public final class MecanumDrive {
             rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
             rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
 
-            LogFiles.recordTargetPose(txWorldTarget.value());
+            FlightRecorder.write("TARGET_POSE", new PoseMessage(txWorldTarget.value()));
 
             Canvas c = p.fieldOverlay();
             drawPoseHistory(c);
@@ -383,7 +385,7 @@ public final class MecanumDrive {
             poseHistory.removeFirst();
         }
 
-        LogFiles.recordPose(pose);
+        FlightRecorder.write("ESTIMATED_POSE", new PoseMessage(pose));
 
         return twist.velocity().value();
     }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
index 69c6929..386b493 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
@@ -25,11 +25,16 @@ import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
 import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2d;
 import com.acmerobotics.roadrunner.Twist2dDual;
 import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.Vector2dDual;
 import com.acmerobotics.roadrunner.VelConstraint;
+import com.acmerobotics.roadrunner.ftc.Encoder;
+import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.LynxFirmware;
+import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -38,13 +43,6 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 
-import org.firstinspires.ftc.teamcode.util.LogFiles;
-import org.firstinspires.ftc.teamcode.util.Encoder;
-import org.firstinspires.ftc.teamcode.util.Localizer;
-import org.firstinspires.ftc.teamcode.util.LynxFirmwareVersion;
-import org.firstinspires.ftc.teamcode.util.OverflowEncoder;
-import org.firstinspires.ftc.teamcode.util.RawEncoder;
-
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collections;
@@ -79,6 +77,36 @@ public final class TankDrive {
     public static double TURN_GAIN = 0.0;
     public static double TURN_VEL_GAIN = 0.0;
 
+    public static class Params {
+        // drive model parameters
+        public double inPerTick = 0;
+        public double trackWidthTicks = 0;
+
+        // feedforward parameters in tick units
+        public double kS = 0;
+        public double kV = 0;
+        public double kA = 0;
+
+        // path profile parameters
+        public double maxWheelVel = 50;
+        public double minProfileAccel = -30;
+        public double maxProfileAccel = 50;
+
+        // turn profile parameters
+        public double maxAngVel = Math.PI; // shared with path
+        public double maxAngAccel = Math.PI;
+
+        // path controller gains
+        public double ramseteZeta = 0.7; // in the range (0, 1)
+        public double ramseteBBar = 2.0; // positive
+
+        // turn controller gains
+        public double turnGain = 0.0;
+        public double turnVelGain = 0.0;
+    }
+
+    public static Params PARAMS = new Params();
+
     public final TankKinematics kinematics = new TankKinematics(IN_PER_TICK * TRACK_WIDTH_TICKS);
 
     public final MotorFeedforward feedforward = new MotorFeedforward(kS, kV / IN_PER_TICK, kA / IN_PER_TICK);
@@ -139,7 +167,7 @@ public final class TankDrive {
         public Twist2dDual<Time> update() {
             double meanLeftPos = 0.0, meanLeftVel = 0.0;
             for (Encoder e : leftEncs) {
-                Encoder.PositionVelocityPair p = e.getPositionAndVelocity();
+                PositionVelocityPair p = e.getPositionAndVelocity();
                 meanLeftPos += p.position;
                 meanLeftVel += p.velocity;
             }
@@ -148,7 +176,7 @@ public final class TankDrive {
 
             double meanRightPos = 0.0, meanRightVel = 0.0;
             for (Encoder e : rightEncs) {
-                Encoder.PositionVelocityPair p = e.getPositionAndVelocity();
+                PositionVelocityPair p = e.getPositionAndVelocity();
                 meanRightPos += p.position;
                 meanRightVel += p.velocity;
             }
@@ -176,8 +204,7 @@ public final class TankDrive {
     public TankDrive(HardwareMap hardwareMap, Pose2d pose) {
         this.pose = pose;
 
-        LynxFirmwareVersion.throwIfAnyModulesBelowVersion(hardwareMap,
-                new LynxFirmwareVersion(1, 8, 2));
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
 
         for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
             module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
@@ -202,6 +229,8 @@ public final class TankDrive {
         voltageSensor = hardwareMap.voltageSensor.iterator().next();
 
         localizer = new TankDrive.DriveLocalizer();
+
+        FlightRecorder.write("TANK_PARAMS", PARAMS);
     }
 
     public void setDrivePowers(PoseVelocity2d powers) {
@@ -290,7 +319,7 @@ public final class TankDrive {
             p.put("yError", error.position.y);
             p.put("headingError (deg)", Math.toDegrees(error.heading.log()));
 
-            LogFiles.recordTargetPose(txWorldTarget.value());
+            FlightRecorder.write("TARGET_POSE", new PoseMessage(txWorldTarget.value()));
 
             // only draw when active; only one drive action should be active at a time
             Canvas c = p.fieldOverlay();
@@ -368,7 +397,7 @@ public final class TankDrive {
                 m.setPower(feedforward.compute(wheelVels.right) / voltage);
             }
 
-            LogFiles.recordTargetPose(txWorldTarget.value());
+            FlightRecorder.write("TARGET_POSE", new PoseMessage(txWorldTarget.value()));
 
             Canvas c = p.fieldOverlay();
             drawPoseHistory(c);
@@ -401,7 +430,7 @@ public final class TankDrive {
             poseHistory.removeFirst();
         }
 
-        LogFiles.recordPose(pose);
+        FlightRecorder.write("ESTIMATED_POSE", new PoseMessage(pose));
 
         return twist.velocity().value();
     }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
index 7ba0de6..90fcfe4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -5,18 +5,22 @@ import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.Twist2dDual;
 import com.acmerobotics.roadrunner.Vector2dDual;
+import com.acmerobotics.roadrunner.ftc.Encoder;
+import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import org.firstinspires.ftc.teamcode.util.Encoder;
-import org.firstinspires.ftc.teamcode.util.Localizer;
-import org.firstinspires.ftc.teamcode.util.RawEncoder;
-
 @Config
 public final class ThreeDeadWheelLocalizer implements Localizer {
-    public static double PAR0_Y_TICKS = 0.0;
-    public static double PAR1_Y_TICKS = 0.0;
-    public static double PERP_X_TICKS = 0.0;
+    public static class Params {
+        public double PAR0_Y_TICKS = 0.0;
+        public double PAR1_Y_TICKS = 0.0;
+        public double PERP_X_TICKS = 0.0;
+    }
+
+    public static Params PARAMS = new Params();
 
     public final Encoder par0, par1, perp;
 
@@ -34,12 +38,14 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
         lastPerpPos = perp.getPositionAndVelocity().position;
 
         this.inPerTick = inPerTick;
+
+        FlightRecorder.write("THREE_DEAD_WHEEL_PARAMS", PARAMS);
     }
 
     public Twist2dDual<Time> update() {
-        Encoder.PositionVelocityPair par0PosVel = par0.getPositionAndVelocity();
-        Encoder.PositionVelocityPair par1PosVel = par1.getPositionAndVelocity();
-        Encoder.PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
+        PositionVelocityPair par0PosVel = par0.getPositionAndVelocity();
+        PositionVelocityPair par1PosVel = par1.getPositionAndVelocity();
+        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
 
         int par0PosDelta = par0PosVel.position - lastPar0Pos;
         int par1PosDelta = par1PosVel.position - lastPar1Pos;
@@ -48,17 +54,17 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
         Twist2dDual<Time> twist = new Twist2dDual<>(
                 new Vector2dDual<>(
                         new DualNum<Time>(new double[] {
-                                (PAR0_Y_TICKS * par1PosDelta - PAR1_Y_TICKS * par0PosDelta) / (PAR0_Y_TICKS - PAR1_Y_TICKS),
-                                (PAR0_Y_TICKS * par1PosVel.velocity - PAR1_Y_TICKS * par0PosVel.velocity) / (PAR0_Y_TICKS - PAR1_Y_TICKS),
+                                (PARAMS.PAR0_Y_TICKS * par1PosDelta - PARAMS.PAR1_Y_TICKS * par0PosDelta) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
+                                (PARAMS.PAR0_Y_TICKS * par1PosVel.velocity - PARAMS.PAR1_Y_TICKS * par0PosVel.velocity) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
                         }).times(inPerTick),
                         new DualNum<Time>(new double[] {
-                                (PERP_X_TICKS / (PAR0_Y_TICKS - PAR1_Y_TICKS) * (par1PosDelta - par0PosDelta) + perpPosDelta),
-                                (PERP_X_TICKS / (PAR0_Y_TICKS - PAR1_Y_TICKS) * (par1PosVel.velocity - par0PosVel.velocity) + perpPosVel.velocity),
+                                (PARAMS.PERP_X_TICKS / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS) * (par1PosDelta - par0PosDelta) + perpPosDelta),
+                                (PARAMS.PERP_X_TICKS / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS) * (par1PosVel.velocity - par0PosVel.velocity) + perpPosVel.velocity),
                         }).times(inPerTick)
                 ),
                 new DualNum<>(new double[] {
-                        (par0PosDelta - par1PosDelta) / (PAR0_Y_TICKS - PAR1_Y_TICKS),
-                        (par0PosVel.velocity - par1PosVel.velocity) / (PAR0_Y_TICKS - PAR1_Y_TICKS),
+                        (par0PosDelta - par1PosDelta) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
+                        (par0PosVel.velocity - par1PosVel.velocity) / (PARAMS.PAR0_Y_TICKS - PARAMS.PAR1_Y_TICKS),
                 })
         );
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
index 3172930..466e561 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
@@ -6,19 +6,24 @@ import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.Twist2dDual;
 import com.acmerobotics.roadrunner.Vector2dDual;
+import com.acmerobotics.roadrunner.ftc.Encoder;
+import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.util.Encoder;
-import org.firstinspires.ftc.teamcode.util.Localizer;
-import org.firstinspires.ftc.teamcode.util.RawEncoder;
 
 @Config
 public final class TwoDeadWheelLocalizer implements Localizer {
-    public static double PAR_Y_TICKS = 0.0;
-    public static double PERP_X_TICKS = 0.0;
+    public static class Params {
+        public double PAR_Y_TICKS = 0.0;
+        public double PERP_X_TICKS = 0.0;
+    }
+
+    public static Params PARAMS = new Params();
 
     public final Encoder par, perp;
     public final IMU imu;
@@ -38,11 +43,13 @@ public final class TwoDeadWheelLocalizer implements Localizer {
         lastHeading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
 
         this.inPerTick = inPerTick;
+
+        FlightRecorder.write("TWO_DEAD_WHEEL_PARAMS", PARAMS);
     }
 
     public Twist2dDual<Time> update() {
-        Encoder.PositionVelocityPair parPosVel = par.getPositionAndVelocity();
-        Encoder.PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
+        PositionVelocityPair parPosVel = par.getPositionAndVelocity();
+        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
         Rotation2d heading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
 
         int parPosDelta = parPosVel.position - lastParPos;
@@ -54,12 +61,12 @@ public final class TwoDeadWheelLocalizer implements Localizer {
         Twist2dDual<Time> twist = new Twist2dDual<>(
                 new Vector2dDual<>(
                         new DualNum<Time>(new double[] {
-                                parPosDelta - PAR_Y_TICKS * headingDelta,
-                                parPosVel.velocity - PAR_Y_TICKS * headingVel,
+                                parPosDelta - PARAMS.PAR_Y_TICKS * headingDelta,
+                                parPosVel.velocity - PARAMS.PAR_Y_TICKS * headingVel,
                         }).times(inPerTick),
                         new DualNum<Time>(new double[] {
-                                perpPosDelta - PERP_X_TICKS * headingDelta,
-                                perpPosVel.velocity - PERP_X_TICKS * headingVel,
+                                perpPosDelta - PARAMS.PERP_X_TICKS * headingDelta,
+                                perpPosVel.velocity - PARAMS.PERP_X_TICKS * headingVel,
                         }).times(inPerTick)
                 ),
                 new DualNum<>(new double[] {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
deleted file mode 100644
index 4d1da42..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/readme.md
+++ /dev/null
@@ -1,131 +0,0 @@
-## TeamCode Module
-
-Welcome!
-
-This module, TeamCode, is the place where you will write/paste the code for your team's
-robot controller App. This module is currently empty (a clean slate) but the
-process for adding OpModes is straightforward.
-
-## Creating your own OpModes
-
-The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
-
-Sample opmodes exist in the FtcRobotController module.
-To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
-
-Expand the following tree elements:
- FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
-
-### Naming of Samples
-
-To gain a better understanding of how the samples are organized, and how to interpret the
-naming system, it will help to understand the conventions that were used during their creation.
-
-These conventions are described (in detail) in the sample_conventions.md file in this folder.
-
-To summarize: A range of different samples classes will reside in the java/external/samples.
-The class names will follow a naming convention which indicates the purpose of each class.
-The prefix of the name will be one of the following:
-
-Basic:  	This is a minimally functional OpMode used to illustrate the skeleton/structure
-            of a particular style of OpMode.  These are bare bones examples.
-
-Sensor:    	This is a Sample OpMode that shows how to use a specific sensor.
-            It is not intended to drive a functioning robot, it is simply showing the minimal code
-            required to read and display the sensor values.
-
-Robot:	    This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
-            It may be used to provide a common baseline driving OpMode, or
-            to demonstrate how a particular sensor or concept can be used to navigate.
-
-Concept:	This is a sample OpMode that illustrates performing a specific function or concept.
-            These may be complex, but their operation should be explained clearly in the comments,
-            or the comments should reference an external doc, guide or tutorial.
-            Each OpMode should try to only demonstrate a single concept so they are easy to
-            locate based on their name.  These OpModes may not produce a drivable robot.
-
-After the prefix, other conventions will apply:
-
-* Sensor class names are constructed as:    Sensor - Company - Type
-* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
-* Concept class names are constructed as:   Concept - Topic - OpModetype
-
-Once you are familiar with the range of samples available, you can choose one to be the
-basis for your own robot.  In all cases, the desired sample(s) needs to be copied into
-your TeamCode module to be used.
-
-This is done inside Android Studio directly, using the following steps:
-
- 1) Locate the desired sample class in the Project/Android tree.
-
- 2) Right click on the sample class and select "Copy"
-
- 3) Expand the  TeamCode/java folder
-
- 4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
-
- 5) You will be prompted for a class name for the copy.
-    Choose something meaningful based on the purpose of this class.
-    Start with a capital letter, and remember that there may be more similar classes later.
-
-Once your copy has been created, you should prepare it for use on your robot.
-This is done by adjusting the OpMode's name, and enabling it to be displayed on the
-Driver Station's OpMode list.
-
-Each OpMode sample class begins with several lines of code like the ones shown below:
-
-```
- @TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
- @Disabled
-```
-
-The name that will appear on the driver station's "opmode list" is defined by the code:
- ``name="Template: Linear OpMode"``
-You can change what appears between the quotes to better describe your opmode.
-The "group=" portion of the code can be used to help organize your list of OpModes.
-
-As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
-  ``@Disabled`` annotation which has been included.
-This line can simply be deleted , or commented out, to make the OpMode visible.
-
-
-
-## ADVANCED Multi-Team App management:  Cloning the TeamCode Module
-
-In some situations, you have multiple teams in your club and you want them to all share
-a common code organization, with each being able to *see* the others code but each having
-their own team module with their own code that they maintain themselves.
-
-In this situation, you might wish to clone the TeamCode module, once for each of these teams.
-Each of the clones would then appear along side each other in the Android Studio module list,
-together with the FtcRobotController module (and the original TeamCode module).
-
-Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
-prior to clicking to the green Run arrow.
-
-Warning:  This is not for the inexperienced Software developer.
-You will need to be comfortable with File manipulations and managing Android Studio Modules.
-These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
- 
-Also.. Make a full project backup before you start this :)
-
-To clone TeamCode, do the following:
-
-Note: Some names start with "Team" and others start with "team".  This is intentional.
-
-1)  Using your operating system file management tools, copy the whole "TeamCode"
-    folder to a sibling folder with a corresponding new name, eg: "Team0417".
-
-2)  In the new Team0417 folder, delete the TeamCode.iml file.
-
-3)  the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
-    to a matching name with a lowercase 'team' eg:  "team0417".
-
-4)  In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that contains
-         package="org.firstinspires.ftc.teamcode"
-    to be
-         package="org.firstinspires.ftc.team0417"
-
-5)  Add:    include ':Team0417' to the "/settings.gradle" file.
-    
-6)  Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/AngularRampLogger.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/AngularRampLogger.java
deleted file mode 100644
index 8a404ef..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/AngularRampLogger.java
+++ /dev/null
@@ -1,167 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.qualcomm.hardware.lynx.LynxDcMotorController;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.util.SerialNumber;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
-import org.firstinspires.ftc.teamcode.util.Encoder;
-import org.firstinspires.ftc.teamcode.util.MidpointTimer;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Map;
-
-public final class AngularRampLogger extends LinearOpMode {
-    private static double power(double seconds) {
-        return Math.min(0.1 * seconds, 0.9);
-    }
-
-    private static class Signal {
-        public final List<Double> times = new ArrayList<>();
-        public final List<Double> values = new ArrayList<>();
-    }
-
-    private static void recordEncoderData(Encoder e, Map<SerialNumber, Double> ts, Signal ps, Signal vs) {
-        SerialNumber sn = ((LynxDcMotorController) e.getController()).getSerialNumber();
-        Encoder.PositionVelocityPair p = e.getPositionAndVelocity();
-
-        ps.times.add(ts.get(sn));
-        ps.values.add((double) p.position);
-
-        vs.times.add(ts.get(sn));
-        vs.values.add((double) p.velocity);
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-        DriveView view = new DriveView(hardwareMap);
-        view.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
-
-        class Data {
-            public final String type = view.type;
-
-            public final List<Signal> leftPowers = new ArrayList<>();
-            public final List<Signal> rightPowers = new ArrayList<>();
-
-            public final Signal voltages = new Signal();
-
-            public final List<Signal> leftEncPositions = new ArrayList<>();
-            public final List<Signal> rightEncPositions = new ArrayList<>();
-            public final List<Signal> parEncPositions = new ArrayList<>();
-            public final List<Signal> perpEncPositions = new ArrayList<>();
-
-            public final List<Signal> leftEncVels = new ArrayList<>();
-            public final List<Signal> rightEncVels = new ArrayList<>();
-            public final List<Signal> parEncVels = new ArrayList<>();
-            public final List<Signal> perpEncVels = new ArrayList<>();
-
-            public final List<Signal> angVels = new ArrayList<>();
-        }
-
-        Data data = new Data();
-        for (DcMotorEx m : view.leftMotors) {
-            data.leftPowers.add(new Signal());
-        }
-        for (DcMotorEx m : view.rightMotors) {
-            data.rightPowers.add(new Signal());
-        }
-        for (Encoder e : view.leftEncs) {
-            data.leftEncPositions.add(new Signal());
-            data.leftEncVels.add(new Signal());
-        }
-        for (Encoder e : view.rightEncs) {
-            data.rightEncPositions.add(new Signal());
-            data.rightEncVels.add(new Signal());
-        }
-        for (Encoder e : view.parEncs) {
-            data.parEncPositions.add(new Signal());
-            data.parEncVels.add(new Signal());
-        }
-        for (Encoder e : view.perpEncs) {
-            data.perpEncPositions.add(new Signal());
-            data.perpEncVels.add(new Signal());
-        }
-        for (int i = 0; i < 3; i++) {
-            data.angVels.add(new Signal());
-        }
-
-        waitForStart();
-
-        MidpointTimer t = new MidpointTimer();
-        while (opModeIsActive()) {
-            for (int i = 0; i < view.leftMotors.size(); i++) {
-                double power = -power(t.seconds());
-                view.leftMotors.get(i).setPower(power);
-
-                Signal s = data.leftPowers.get(i);
-                s.times.add(t.addSplit());
-                s.values.add(power);
-            }
-
-            for (int i = 0; i < view.rightMotors.size(); i++) {
-                double power = power(t.seconds());
-                view.rightMotors.get(i).setPower(power);
-
-                Signal s = data.rightPowers.get(i);
-                s.times.add(t.addSplit());
-                s.values.add(power);
-            }
-
-            data.voltages.values.add(view.voltageSensor.getVoltage());
-            data.voltages.times.add(t.addSplit());
-
-            Map<SerialNumber, Double> encTimes = view.resetAndBulkRead(t);
-
-            for (int i = 0; i < view.leftEncs.size(); i++) {
-                recordEncoderData(
-                        view.leftEncs.get(i),
-                        encTimes,
-                        data.leftEncPositions.get(i),
-                        data.leftEncVels.get(i)
-                );
-            }
-            for (int i = 0; i < view.rightEncs.size(); i++) {
-                recordEncoderData(
-                        view.rightEncs.get(i),
-                        encTimes,
-                        data.rightEncPositions.get(i),
-                        data.rightEncVels.get(i)
-                );
-            }
-            for (int i = 0; i < view.parEncs.size(); i++) {
-                recordEncoderData(
-                        view.parEncs.get(i),
-                        encTimes,
-                        data.parEncPositions.get(i),
-                        data.parEncVels.get(i)
-                );
-            }
-            for (int i = 0; i < view.perpEncs.size(); i++) {
-                recordEncoderData(
-                        view.perpEncs.get(i),
-                        encTimes,
-                        data.perpEncPositions.get(i),
-                        data.perpEncVels.get(i)
-                );
-            }
-
-            AngularVelocity av = view.imu.getRobotAngularVelocity(AngleUnit.RADIANS);
-            for (int i = 0; i < 3; i ++) {
-                data.angVels.get(i).times.add(t.addSplit());
-            }
-            data.angVels.get(0).values.add((double) av.xRotationRate);
-            data.angVels.get(1).values.add((double) av.yRotationRate);
-            data.angVels.get(2).values.add((double) av.zRotationRate);
-        }
-
-        for (DcMotorEx m : view.motors) {
-            m.setPower(0);
-        }
-
-        TuningFiles.save(TuningFiles.FileType.ANGULAR_RAMP, data);
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/DriveView.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/DriveView.java
deleted file mode 100644
index 8648462..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/DriveView.java
+++ /dev/null
@@ -1,210 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.roadrunner.MotorFeedforward;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.IMU;
-import com.qualcomm.robotcore.hardware.VoltageSensor;
-import com.qualcomm.robotcore.util.SerialNumber;
-
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-import org.firstinspires.ftc.teamcode.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.TwoDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.util.Encoder;
-import org.firstinspires.ftc.teamcode.util.Localizer;
-import org.firstinspires.ftc.teamcode.util.MidpointTimer;
-import org.firstinspires.ftc.teamcode.util.OverflowEncoder;
-import org.firstinspires.ftc.teamcode.util.RawEncoder;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
-final class DriveView {
-    public final String type;
-
-    public final double inPerTick;
-    public final double maxVel, minAccel, maxAccel;
-
-    public final List<LynxModule> lynxModules;
-
-    public final List<DcMotorEx> leftMotors, rightMotors;
-    public final List<DcMotorEx> motors;
-
-    // invariant: (leftEncs.isEmpty() && rightEncs.isEmpty()) ||
-    //                  (parEncs.isEmpty() && perpEncs.isEmpty())
-    public final List<RawEncoder> leftEncs, rightEncs, parEncs, perpEncs;
-    public final List<RawEncoder> forwardEncs;
-
-    public final List<Encoder> forwardEncsWrapped;
-
-    public final IMU imu;
-
-    public final VoltageSensor voltageSensor;
-
-    private final MecanumDrive md;
-    private final TankDrive td;
-
-    private static RawEncoder unwrap(Encoder e) {
-        if (e instanceof OverflowEncoder) {
-            return ((OverflowEncoder) e).encoder;
-        } else {
-            return (RawEncoder) e;
-        }
-    }
-
-    public DriveView(HardwareMap hardwareMap) {
-        lynxModules = hardwareMap.getAll(LynxModule.class);
-
-        final Localizer localizer;
-        if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            type = "mecanum";
-
-            inPerTick = MecanumDrive.IN_PER_TICK;
-            maxVel = MecanumDrive.MAX_WHEEL_VEL;
-            minAccel = MecanumDrive.MIN_PROFILE_ACCEL;
-            maxAccel = MecanumDrive.MAX_PROFILE_ACCEL;
-
-            md = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0)); td = null;
-            leftMotors = Arrays.asList(md.leftFront, md.leftBack);
-            rightMotors = Arrays.asList(md.rightFront, md.rightBack);
-            imu = md.imu;
-            voltageSensor = md.voltageSensor;
-
-            localizer = md.localizer;
-        } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            type = "tank";
-
-            inPerTick = TankDrive.IN_PER_TICK;
-            maxVel = TankDrive.MAX_WHEEL_VEL;
-            minAccel = TankDrive.MIN_PROFILE_ACCEL;
-            maxAccel = TankDrive.MAX_PROFILE_ACCEL;
-
-            td = new TankDrive(hardwareMap, new Pose2d(0, 0, 0)); md = null;
-            leftMotors = td.leftMotors;
-            rightMotors = td.rightMotors;
-            imu = td.imu;
-            voltageSensor = td.voltageSensor;
-
-            localizer = td.localizer;
-        } else {
-            throw new AssertionError();
-        }
-
-        forwardEncsWrapped = new ArrayList<>();
-
-        if (localizer instanceof TwoDeadWheelLocalizer) {
-            TwoDeadWheelLocalizer l2 = (TwoDeadWheelLocalizer) localizer;
-            parEncs = Collections.singletonList(unwrap(l2.par));
-            perpEncs = Collections.singletonList(unwrap(l2.perp));
-            leftEncs = Collections.emptyList();
-            rightEncs = Collections.emptyList();
-
-            forwardEncsWrapped.add(l2.par);
-            forwardEncsWrapped.add(l2.perp);
-        } else if (localizer instanceof ThreeDeadWheelLocalizer) {
-            ThreeDeadWheelLocalizer l3 = (ThreeDeadWheelLocalizer) localizer;
-            parEncs = Arrays.asList(unwrap(l3.par0), unwrap(l3.par1));
-            perpEncs = Collections.singletonList(unwrap(l3.perp));
-            leftEncs = Collections.emptyList();
-            rightEncs = Collections.emptyList();
-
-            forwardEncsWrapped.add(l3.par0);
-            forwardEncsWrapped.add(l3.par1);
-            forwardEncsWrapped.add(l3.perp);
-        } else if (localizer instanceof MecanumDrive.DriveLocalizer) {
-            MecanumDrive.DriveLocalizer dl = (MecanumDrive.DriveLocalizer) localizer;
-            parEncs = Collections.emptyList();
-            perpEncs = Collections.emptyList();
-            leftEncs = Arrays.asList(unwrap(dl.leftFront), unwrap(dl.leftRear));
-            rightEncs = Arrays.asList(unwrap(dl.rightFront), unwrap(dl.rightRear));
-
-            forwardEncsWrapped.add(dl.leftFront);
-            forwardEncsWrapped.add(dl.leftRear);
-            forwardEncsWrapped.add(dl.rightFront);
-            forwardEncsWrapped.add(dl.rightRear);
-        } else if (localizer instanceof TankDrive.DriveLocalizer) {
-            TankDrive.DriveLocalizer dl = (TankDrive.DriveLocalizer) localizer;
-            parEncs = Collections.emptyList();
-            perpEncs = Collections.emptyList();
-            leftEncs = new ArrayList<>();
-            for (Encoder e : dl.leftEncs) {
-                leftEncs.add(unwrap(e));
-
-                forwardEncsWrapped.add(e);
-            }
-            rightEncs = new ArrayList<>();
-            for (Encoder e : dl.rightEncs) {
-                rightEncs.add(unwrap(e));
-
-                forwardEncsWrapped.add(e);
-            }
-        } else {
-            throw new AssertionError();
-        }
-
-        motors = new ArrayList<>();
-        motors.addAll(leftMotors);
-        motors.addAll(rightMotors);
-
-        forwardEncs = new ArrayList<>();
-        forwardEncs.addAll(leftEncs);
-        forwardEncs.addAll(rightEncs);
-        forwardEncs.addAll(parEncs);
-
-        List<RawEncoder> allEncs = new ArrayList<>();
-        allEncs.addAll(forwardEncs);
-        allEncs.addAll(perpEncs);
-    }
-
-    public MotorFeedforward feedforward() {
-        if (md != null) {
-            return new MotorFeedforward(MecanumDrive.kS, MecanumDrive.kV, MecanumDrive.kA);
-        }
-
-        if (td != null) {
-            return new MotorFeedforward(TankDrive.kS, TankDrive.kV, TankDrive.kA);
-        }
-
-        throw new AssertionError();
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        if (md != null) {
-            md.setDrivePowers(powers);
-            return;
-        }
-
-        if (td != null) {
-            td.setDrivePowers(powers);
-            return;
-        }
-
-        throw new AssertionError();
-    }
-
-    public void setBulkCachingMode(LynxModule.BulkCachingMode mode) {
-        for (LynxModule m : lynxModules) {
-            m.setBulkCachingMode(mode);
-        }
-    }
-
-    public Map<SerialNumber, Double> resetAndBulkRead(MidpointTimer t) {
-        final Map<SerialNumber, Double> times = new HashMap<>();
-        for (LynxModule m : lynxModules) {
-            m.clearBulkCache();
-
-            t.addSplit();
-            m.getBulkData();
-            times.put(m.getSerialNumber(), t.addSplit());
-        }
-        return times;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardPushTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardPushTest.java
deleted file mode 100644
index f311f57..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardPushTest.java
+++ /dev/null
@@ -1,36 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-
-import org.firstinspires.ftc.teamcode.util.Encoder;
-
-import java.util.List;
-
-public final class ForwardPushTest extends LinearOpMode {
-    private static double avgPos(List<? extends Encoder> es) {
-        double avgPos = 0;
-        for (Encoder e : es) {
-            avgPos += e.getPositionAndVelocity().position;
-        }
-        return avgPos / es.size();
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-        DriveView view = new DriveView(hardwareMap);
-
-        for (DcMotorEx m : view.motors) {
-            m.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        }
-
-        waitForStart();
-
-        double initAvgPos = avgPos(view.forwardEncs);
-        while (opModeIsActive()) {
-            telemetry.addData("ticks traveled", avgPos(view.forwardEncs) - initAvgPos);
-            telemetry.update();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardRampLogger.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardRampLogger.java
deleted file mode 100644
index e2edaf3..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ForwardRampLogger.java
+++ /dev/null
@@ -1,96 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.qualcomm.hardware.lynx.LynxDcMotorController;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.util.SerialNumber;
-
-import org.firstinspires.ftc.teamcode.util.Encoder;
-import org.firstinspires.ftc.teamcode.util.MidpointTimer;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Map;
-
-public final class  ForwardRampLogger extends LinearOpMode {
-    private static double power(double seconds) {
-        return Math.min(0.1 * seconds, 0.9);
-    }
-
-    private static class Signal {
-        public final List<Double> times = new ArrayList<>();
-        public final List<Double> values = new ArrayList<>();
-    }
-
-    private static void recordEncoderData(Encoder e, Map<SerialNumber, Double> ts, Signal ps, Signal vs) {
-        SerialNumber sn = ((LynxDcMotorController) e.getController()).getSerialNumber();
-        Encoder.PositionVelocityPair p = e.getPositionAndVelocity();
-
-        ps.times.add(ts.get(sn));
-        ps.values.add((double) p.position);
-
-        vs.times.add(ts.get(sn));
-        vs.values.add((double) p.velocity);
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-        DriveView view = new DriveView(hardwareMap);
-        view.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
-
-        class Data {
-            public final String type = view.type;
-
-            public final List<Signal> powers = new ArrayList<>();
-
-            public final Signal voltages = new Signal();
-
-            public final List<Signal> forwardEncPositions = new ArrayList<>();
-            public final List<Signal> forwardEncVels = new ArrayList<>();
-        }
-
-        Data data = new Data();
-        for (DcMotorEx m : view.motors) {
-            data.powers.add(new Signal());
-        }
-        for (Encoder e : view.forwardEncs) {
-            data.forwardEncPositions.add(new Signal());
-            data.forwardEncVels.add(new Signal());
-        }
-
-        waitForStart();
-
-        MidpointTimer t = new MidpointTimer();
-        while (opModeIsActive()) {
-            for (int i = 0; i < view.motors.size(); i++) {
-                double power = power(t.seconds());
-                view.motors.get(i).setPower(power);
-
-                Signal s = data.powers.get(i);
-                s.times.add(t.addSplit());
-                s.values.add(power);
-            }
-
-            data.voltages.values.add(view.voltageSensor.getVoltage());
-            data.voltages.times.add(t.addSplit());
-
-            Map<SerialNumber, Double> encTimes = view.resetAndBulkRead(t);
-
-            for (int i = 0; i < view.forwardEncs.size(); i++) {
-                recordEncoderData(
-                        view.forwardEncs.get(i),
-                        encTimes,
-                        data.forwardEncPositions.get(i),
-                        data.forwardEncVels.get(i)
-                );
-            }
-        }
-
-        for (DcMotorEx m : view.motors) {
-            m.setPower(0);
-        }
-
-        TuningFiles.save(TuningFiles.FileType.FORWARD_RAMP, data);
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LateralPushTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LateralPushTest.java
deleted file mode 100644
index fec294d..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LateralPushTest.java
+++ /dev/null
@@ -1,41 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.roadrunner.Pose2d;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
-
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-
-public final class LateralPushTest extends LinearOpMode {
-    private static double lateralSum(MecanumDrive.DriveLocalizer dl) {
-        return 0.25 * (
-                -dl.leftFront.getPositionAndVelocity().position
-                +dl.leftRear.getPositionAndVelocity().position
-                -dl.rightRear.getPositionAndVelocity().position
-                +dl.rightFront.getPositionAndVelocity().position);
-    }
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-        if (!TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            throw new RuntimeException(getClass().getSimpleName() + " is for mecanum drives only.");
-        }
-
-        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-        MecanumDrive.DriveLocalizer dl = (MecanumDrive.DriveLocalizer) drive.localizer;
-
-        drive.leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        drive.leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        drive.rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-        drive.rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
-
-        waitForStart();
-
-        double initLateralSum = lateralSum(dl);
-        while (opModeIsActive()) {
-            telemetry.addData("ticks traveled", lateralSum(dl) - initLateralSum);
-            telemetry.update();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java
deleted file mode 100644
index a5b5bbc..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/LocalizationTest.java
+++ /dev/null
@@ -1,61 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.Twist2d;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-
-public class LocalizationTest extends LinearOpMode {
-    @Override
-    public void runOpMode() throws InterruptedException {
-        if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            while (opModeIsActive()) {
-                drive.setDrivePowers(new PoseVelocity2d(
-                        new Vector2d(
-                                -gamepad1.left_stick_y,
-                                -gamepad1.left_stick_x
-                        ),
-                        -gamepad1.right_stick_x
-                ));
-
-                drive.updatePoseEstimate();
-
-                telemetry.addData("x", drive.pose.position.x);
-                telemetry.addData("y", drive.pose.position.y);
-                telemetry.addData("heading", drive.pose.heading);
-                telemetry.update();
-            }
-        } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            while (opModeIsActive()) {
-                drive.setDrivePowers(new PoseVelocity2d(
-                        new Vector2d(
-                                -gamepad1.left_stick_y,
-                                0.0
-                        ),
-                        -gamepad1.right_stick_x
-                ));
-
-                drive.updatePoseEstimate();
-
-                telemetry.addData("x", drive.pose.position.x);
-                telemetry.addData("y", drive.pose.position.y);
-                telemetry.addData("heading", drive.pose.heading);
-                telemetry.update();
-            }
-        } else {
-            throw new AssertionError();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
deleted file mode 100644
index 9e6746d..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedbackTuner.java
+++ /dev/null
@@ -1,42 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.roadrunner.Pose2d;
-
-import org.firstinspires.ftc.teamcode.ActionOpMode;
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-
-public final class ManualFeedbackTuner extends ActionOpMode {
-    public static double DISTANCE = 64;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-        if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            while (opModeIsActive()) {
-                runBlocking(
-                    drive.actionBuilder(drive.pose)
-                            .lineToX(DISTANCE)
-                            .lineToX(0)
-                            .build());
-            }
-        } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            while (opModeIsActive()) {
-                runBlocking(
-                    drive.actionBuilder(drive.pose)
-                            .lineToX(DISTANCE)
-                            .lineToX(0)
-                            .build());
-            }
-        } else {
-            throw new AssertionError();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedforwardTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedforwardTuner.java
deleted file mode 100644
index b891727..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/ManualFeedforwardTuner.java
+++ /dev/null
@@ -1,104 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.Profiles;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.TimeProfile;
-import com.acmerobotics.roadrunner.Twist2d;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-
-@Config
-public class ManualFeedforwardTuner extends LinearOpMode {
-    public static double DISTANCE = 64;
-
-    enum Mode {
-        DRIVER_MODE,
-        TUNING_MODE
-    }
-
-    @Override
-    public void runOpMode() {
-        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        final DriveView view = new DriveView(hardwareMap);
-
-        final TimeProfile profile = new TimeProfile(Profiles.constantProfile(
-                DISTANCE, 0, view.maxVel, view.minAccel, view.maxAccel).baseProfile);
-
-        Mode mode = Mode.TUNING_MODE;
-
-        telemetry.addLine("Ready!");
-        telemetry.update();
-        telemetry.clearAll();
-
-        waitForStart();
-
-        if (isStopRequested()) return;
-
-        boolean movingForwards = true;
-        double startTs = System.nanoTime() / 1e9;
-
-        while (!isStopRequested()) {
-            telemetry.addData("mode", mode);
-
-            switch (mode) {
-                case TUNING_MODE: {
-                    if (gamepad1.y) {
-                        mode = Mode.DRIVER_MODE;
-                    }
-
-                    for (int i = 0; i < view.forwardEncsWrapped.size(); i++) {
-                        double v = view.forwardEncsWrapped.get(i).getPositionAndVelocity().velocity;
-                        telemetry.addData("v" + i, view.inPerTick * v);
-                    }
-
-                    double ts = System.nanoTime() / 1e9;
-                    double t = ts - startTs;
-                    if (t > profile.duration) {
-                        movingForwards = !movingForwards;
-                        startTs = ts;
-                    }
-
-                    DualNum<Time> v = profile.get(t).drop(1);
-                    if (!movingForwards) {
-                        v = v.unaryMinus();
-                    }
-                    telemetry.addData("vref", v.get(0));
-
-                    double power = view.feedforward().compute(v) / view.voltageSensor.getVoltage();
-                    view.setDrivePowers(new PoseVelocity2d(new Vector2d(power, 0), 0));
-
-                    break;
-                }
-                case DRIVER_MODE: {
-                    if (gamepad1.b) {
-                        mode = Mode.TUNING_MODE;
-                        movingForwards = true;
-                        startTs = System.nanoTime() / 1e9;
-                    }
-
-                    view.setDrivePowers(
-                            new PoseVelocity2d(
-                                    new Vector2d(
-                                            -gamepad1.left_stick_y,
-                                            -gamepad1.left_stick_x
-                                    ),
-                                    -gamepad1.right_stick_x
-                            )
-                    );
-
-                    break;
-                }
-            }
-
-            telemetry.update();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/MecanumMotorDirectionDebugger.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/MecanumMotorDirectionDebugger.java
deleted file mode 100644
index c9bb9bb..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/MecanumMotorDirectionDebugger.java
+++ /dev/null
@@ -1,93 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-
-/**
- * This is a simple teleop routine for debugging your motor configuration.
- * Pressing each of the buttons will power its respective motor.
- *
- * Button Mappings:
- *
- * Xbox/PS4 Button - Motor
- *   X / ▢         - Front Left
- *   Y / Δ         - Front Right
- *   B / O         - Rear  Right
- *   A / X         - Rear  Left
- *                                    The buttons are mapped to match the wheels spatially if you
- *                                    were to rotate the gamepad 45deg°. x/square is the front left
- *                    ________        and each button corresponds to the wheel as you go clockwise
- *                   / ______ \
- *     ------------.-'   _  '-..+              Front of Bot
- *              /   _  ( Y )  _  \                  ^
- *             |  ( X )  _  ( B ) |     Front Left   \    Front Right
- *        ___  '.      ( A )     /|       Wheel       \      Wheel
- *      .'    '.    '-._____.-'  .'       (x/▢)        \     (Y/Δ)
- *     |       |                 |                      \
- *      '.___.' '.               |          Rear Left    \   Rear Right
- *               '.             /             Wheel       \    Wheel
- *                \.          .'              (A/X)        \   (B/O)
- *                  \________/
- */
-@Config
-public class MecanumMotorDirectionDebugger extends LinearOpMode {
-    public static double MOTOR_POWER = 0.7;
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-        if (!TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            throw new RuntimeException(getClass().getSimpleName() + " is for mecanum drives only.");
-        }
-
-        MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-        Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-
-        telemetry.addLine("Press play to begin the debugging op mode");
-        telemetry.update();
-
-        waitForStart();
-
-        telemetry.clearAll();
-        telemetry.setDisplayFormat(Telemetry.DisplayFormat.HTML);
-
-        while (opModeIsActive()) {
-            telemetry.addLine("Press each button to turn on its respective motor");
-            telemetry.addLine();
-            telemetry.addLine("<font face=\"monospace\">Xbox/PS4 Button - Motor</font>");
-            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;X / ▢&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Front Left</font>");
-            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;Y / Δ&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Front Right</font>");
-            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;B / O&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Rear&nbsp;&nbsp;Right</font>");
-            telemetry.addLine("<font face=\"monospace\">&nbsp;&nbsp;A / X&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;- Rear&nbsp;&nbsp;Left</font>");
-            telemetry.addLine();
-
-            if (gamepad1.x) {
-                drive.leftFront.setPower(MOTOR_POWER);
-                telemetry.addLine("Running Motor: Front Left");
-            } else if (gamepad1.y) {
-                drive.rightFront.setPower(MOTOR_POWER);
-                telemetry.addLine("Running Motor: Front Right");
-            } else if (gamepad1.b) {
-                drive.rightBack.setPower(MOTOR_POWER);
-                telemetry.addLine("Running Motor: Rear Right");
-            } else if (gamepad1.a) {
-                drive.leftBack.setPower(MOTOR_POWER);
-                telemetry.addLine("Running Motor: Rear Left");
-            } else {
-                drive.leftFront.setPower(0);
-                drive.rightFront.setPower(0);
-                drive.rightBack.setPower(0);
-                drive.leftBack.setPower(0);
-                telemetry.addLine("Running Motor: None");
-            }
-
-            telemetry.update();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java
deleted file mode 100644
index 0cf1dae..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/SplineTest.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Vector2d;
-
-import org.firstinspires.ftc.teamcode.ActionOpMode;
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-
-public final class SplineTest extends ActionOpMode {
-    @Override
-    public void runOpMode() throws InterruptedException {
-        if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) {
-            MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            runBlocking(
-                drive.actionBuilder(drive.pose)
-                        .splineTo(new Vector2d(30, 30), Math.PI / 2)
-                        .splineTo(new Vector2d(60, 0), Math.PI)
-                        .build());
-        } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) {
-            TankDrive drive = new TankDrive(hardwareMap, new Pose2d(0, 0, 0));
-
-            waitForStart();
-
-            runBlocking(
-                    drive.actionBuilder(drive.pose)
-                            .splineTo(new Vector2d(30, 30), Math.PI / 2)
-                            .splineTo(new Vector2d(60, 0), Math.PI)
-                            .build());
-        } else {
-            throw new AssertionError();
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningFiles.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningFiles.java
deleted file mode 100644
index a62beca..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningFiles.java
+++ /dev/null
@@ -1,174 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import android.content.Context;
-import android.content.res.AssetManager;
-
-import com.fasterxml.jackson.core.JsonFactory;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import com.qualcomm.robotcore.util.RobotLog;
-import com.qualcomm.robotcore.util.WebHandlerManager;
-
-import org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar;
-import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
-import org.firstinspires.ftc.robotcore.internal.webserver.WebHandler;
-import org.firstinspires.ftc.robotserver.internal.webserver.MimeTypesUtil;
-
-import java.io.File;
-import java.io.FileInputStream;
-import java.io.IOException;
-import java.util.Objects;
-
-import fi.iki.elonen.NanoHTTPD;
-
-public final class TuningFiles {
-    private static final File ROOT =
-            new File(AppUtil.ROOT_FOLDER + "/RoadRunner/tuning/");
-
-    private static final Object IO_LOCK = new Object();
-
-    private static WebHandlerManager whm; // guarded by ioLock
-
-    public enum FileType {
-        FORWARD_RAMP("forward-ramp"),
-        ANGULAR_RAMP("angular-ramp"),
-        ACCEL("accel");
-
-        public final String name;
-
-        FileType(String s) {
-            name = s;
-        }
-    }
-
-    private TuningFiles() {
-
-    }
-
-    private static File getFileTypeDir(FileType ty) {
-        return new File(ROOT, ty.name);
-    }
-
-    public static void save(FileType ty, Object data) {
-        synchronized (IO_LOCK) {
-            File f = new File(getFileTypeDir(ty), System.currentTimeMillis() + ".json");
-
-            try {
-                new ObjectMapper(new JsonFactory())
-                        .writerWithDefaultPrettyPrinter()
-                        .writeValue(f, data);
-
-                if (whm != null) {
-                    whm.register("/tuning/" + ty.name + "/" + f.getName(),
-                            newStaticFileHandler(f));
-                }
-            } catch (IOException e) {
-                RobotLog.setGlobalErrorMsg(new RuntimeException(e),
-                        "Unable to write data to " + f.getAbsolutePath());
-            }
-        }
-    }
-
-    @WebHandlerRegistrar
-    public static void registerRoutes(Context context, WebHandlerManager manager) {
-        synchronized (IO_LOCK) {
-            AssetManager assetManager = context.getAssets();
-            registerAssetsUnderPath(manager, assetManager, "tuning");
-            for (FileType ty : FileType.values()) {
-                String base = "/tuning/" + ty.name;
-
-                WebHandler wh = newStaticAssetHandler(assetManager, ty.name + "/index.html");
-                manager.register(base, wh);
-                manager.register(base + "/", wh);
-
-                File dir = getFileTypeDir(ty);
-                //noinspection ResultOfMethodCallIgnored
-                dir.mkdirs();
-
-                manager.register(base + "/latest.json",
-                        newLatestFileHandler(dir));
-                for (File f : Objects.requireNonNull(dir.listFiles())) {
-                    manager.register(base + "/" + f.getName(),
-                            newStaticFileHandler(f));
-                }
-            }
-
-            whm = manager;
-        }
-    }
-
-    private static WebHandler newStaticAssetHandler(AssetManager assetManager, String file) {
-        return session -> {
-            if (session.getMethod() == NanoHTTPD.Method.GET) {
-                String mimeType = MimeTypesUtil.determineMimeType(file);
-                return NanoHTTPD.newChunkedResponse(NanoHTTPD.Response.Status.OK,
-                        mimeType, assetManager.open(file));
-            } else {
-                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.NOT_FOUND,
-                        NanoHTTPD.MIME_PLAINTEXT, "");
-            }
-        };
-    }
-
-    private static void registerAssetsUnderPath(WebHandlerManager webHandlerManager,
-                                                AssetManager assetManager, String path) {
-        try {
-            String[] list = assetManager.list(path);
-
-            if (list == null) return;
-
-            if (list.length > 0) {
-                for (String file : list) {
-                    registerAssetsUnderPath(webHandlerManager, assetManager, path + "/" + file);
-                }
-            } else {
-                webHandlerManager.register(path, newStaticAssetHandler(assetManager, path));
-            }
-        } catch (IOException e) {
-            RobotLog.setGlobalErrorMsg(new RuntimeException(e),
-                    "unable to register tuning web routes");
-        }
-    }
-
-
-    private static WebHandler newLatestFileHandler(File dir) {
-        return session -> {
-            File[] files = dir.listFiles();
-            if (files != null) {
-                long mostRecentLastModified = 0;
-                File mostRecentFile = null;
-                for (File f : files) {
-                    long lastModified = f.lastModified();
-                    if (lastModified > mostRecentLastModified) {
-                        mostRecentLastModified = lastModified;
-                        mostRecentFile = f;
-                    }
-                }
-
-                if (mostRecentFile != null) {
-                    String mimeType = MimeTypesUtil.determineMimeType(mostRecentFile.getName());
-                    final NanoHTTPD.Response res = NanoHTTPD.newChunkedResponse(NanoHTTPD.Response.Status.OK,
-                            mimeType,
-                            new FileInputStream(mostRecentFile));
-                    res.addHeader("X-Filename", mostRecentFile.getName());
-                    return res;
-                }
-            }
-
-            return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.NOT_FOUND,
-                    NanoHTTPD.MIME_PLAINTEXT, "");
-        };
-    }
-
-    private static WebHandler newStaticFileHandler(File f) {
-        return session -> {
-            if (session.getMethod() == NanoHTTPD.Method.GET) {
-                String mimeType = MimeTypesUtil.determineMimeType(f.getName());
-                return NanoHTTPD.newChunkedResponse(NanoHTTPD.Response.Status.OK,
-                        mimeType, new FileInputStream(f));
-            } else {
-                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.NOT_FOUND,
-                        NanoHTTPD.MIME_PLAINTEXT, "");
-            }
-        };
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
deleted file mode 100644
index b706b86..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/TuningOpModes.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.firstinspires.ftc.teamcode.tuning;
-
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.eventloop.opmode.OpModeManager;
-import com.qualcomm.robotcore.eventloop.opmode.OpModeRegistrar;
-
-import org.firstinspires.ftc.robotcore.internal.opmode.OpModeMeta;
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-
-import java.util.Arrays;
-import java.util.List;
-
-public final class TuningOpModes {
-    public static final Class<?> DRIVE_CLASS = MecanumDrive.class;
-
-    public static final String GROUP = "quickstart";
-    public static final boolean DISABLED = false;
-
-    private TuningOpModes() {
-
-    }
-
-    @OpModeRegistrar
-    public static void register(OpModeManager manager) {
-        if (DISABLED) return;
-
-        List<Class<? extends OpMode>> opModes = Arrays.asList(
-                AngularRampLogger.class,
-                ForwardPushTest.class,
-                ForwardRampLogger.class,
-                LateralPushTest.class,
-                ManualFeedbackTuner.class,
-                ManualFeedforwardTuner.class,
-                SplineTest.class,
-                MecanumMotorDirectionDebugger.class,
-                LocalizationTest.class
-        );
-
-        for (Class<? extends OpMode> o : opModes) {
-            manager.register(new OpModeMeta.Builder()
-                    .setName(o.getSimpleName())
-                    .setGroup(GROUP)
-                    .setFlavor(OpModeMeta.Flavor.TELEOP)
-                    .build(), o);
-        }
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java
deleted file mode 100644
index d0b08ed..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Encoder.java
+++ /dev/null
@@ -1,21 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-import com.qualcomm.robotcore.hardware.DcMotorController;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-
-public interface Encoder {
-    class PositionVelocityPair {
-        public final int position, velocity;
-
-        public PositionVelocityPair(int position, int velocity) {
-            this.position = position;
-            this.velocity = velocity;
-        }
-    }
-
-    PositionVelocityPair getPositionAndVelocity();
-
-    DcMotorController getController();
-
-    void setDirection(DcMotorSimple.Direction direction);
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LogFiles.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LogFiles.java
deleted file mode 100644
index 158b9b1..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LogFiles.java
+++ /dev/null
@@ -1,227 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-import android.annotation.SuppressLint;
-import android.content.Context;
-
-import com.acmerobotics.roadrunner.Pose2d;
-import com.fasterxml.jackson.core.JsonFactory;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import com.fasterxml.jackson.databind.ObjectWriter;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerImpl;
-import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerNotifier;
-import com.qualcomm.robotcore.util.RobotLog;
-import com.qualcomm.robotcore.util.WebHandlerManager;
-
-import org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar;
-import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
-import org.firstinspires.ftc.teamcode.MecanumDrive;
-import org.firstinspires.ftc.teamcode.TankDrive;
-import org.firstinspires.ftc.teamcode.ThreeDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.TwoDeadWheelLocalizer;
-import org.firstinspires.ftc.teamcode.tuning.TuningOpModes;
-
-import java.io.File;
-import java.io.FileInputStream;
-import java.io.IOException;
-import java.text.DateFormat;
-import java.text.SimpleDateFormat;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Date;
-import java.util.List;
-import java.util.Objects;
-
-import fi.iki.elonen.NanoHTTPD;
-
-public final class LogFiles {
-    private static final File ROOT =
-            new File(AppUtil.ROOT_FOLDER + "/RoadRunner/logs/");
-
-    public static LogFile log = new LogFile("uninitialized");
-
-    public static class LogFile {
-        public String version = "quickstart2 v0";
-
-        public String opModeName;
-        public long msInit = System.currentTimeMillis();
-        public long nsInit = System.nanoTime();
-        public long nsStart, nsStop;
-
-        public String driveClassName = TuningOpModes.DRIVE_CLASS.getCanonicalName();
-
-        public double mecInPerTick = MecanumDrive.IN_PER_TICK;
-        public double mecLateralInPerTick = MecanumDrive.LATERAL_IN_PER_TICK;
-        public double mecTrackWidthTicks = MecanumDrive.TRACK_WIDTH_TICKS;
-        public double mecKS = MecanumDrive.kS;
-        public double mecKV = MecanumDrive.kV;
-        public double mecKA = MecanumDrive.kA;
-        public double mecMaxWheelVel = MecanumDrive.MAX_WHEEL_VEL;
-        public double mecMinProfileAccel = MecanumDrive.MIN_PROFILE_ACCEL;
-        public double mecMaxProfileAccel = MecanumDrive.MAX_PROFILE_ACCEL;
-        public double mecMaxAngVel = MecanumDrive.MAX_ANG_VEL;
-        public double mecMaxAngAccel = MecanumDrive.MAX_ANG_ACCEL;
-        public double mecAxialGain = MecanumDrive.AXIAL_GAIN;
-        public double mecLateralGain = MecanumDrive.LATERAL_GAIN;
-        public double mecHeadingGain = MecanumDrive.HEADING_GAIN;
-        public double mecAxialVelGain = MecanumDrive.AXIAL_VEL_GAIN;
-        public double mecLateralVelGain = MecanumDrive.LATERAL_VEL_GAIN;
-        public double mecHeadingVelGain = MecanumDrive.HEADING_VEL_GAIN;
-
-        public double tankInPerTick = TankDrive.IN_PER_TICK;
-        public double tankTrackWidthTicks = TankDrive.TRACK_WIDTH_TICKS;
-        public double tankKS = TankDrive.kS;
-        public double tankKV = TankDrive.kV;
-        public double tankKA = TankDrive.kA;
-        public double tankMaxWheelVel = TankDrive.MAX_WHEEL_VEL;
-        public double tankMinProfileAccel = TankDrive.MIN_PROFILE_ACCEL;
-        public double tankMaxProfileAccel = TankDrive.MAX_PROFILE_ACCEL;
-        public double tankMaxAngVel = TankDrive.MAX_ANG_VEL;
-        public double tankMaxAngAccel = TankDrive.MAX_ANG_ACCEL;
-        public double tankRamseteZeta = TankDrive.RAMSETE_ZETA;
-        public double tankRamseteBbar = TankDrive.RAMSETE_BBAR;
-        public double tankTurnGain = TankDrive.TURN_GAIN;
-        public double tankTurnVelGain = TankDrive.TURN_VEL_GAIN;
-
-        public double threePar0YTicks = ThreeDeadWheelLocalizer.PAR0_Y_TICKS;
-        public double threePar1YTicks = ThreeDeadWheelLocalizer.PAR1_Y_TICKS;
-        public double threePerpXTicks = ThreeDeadWheelLocalizer.PERP_X_TICKS;
-
-        public double twoParYTicks = TwoDeadWheelLocalizer.PAR_Y_TICKS;
-        public double twoPerpXTicks = TwoDeadWheelLocalizer.PERP_X_TICKS;
-
-        public List<Long> nsTimes = new ArrayList<>();
-
-        public List<Double> targetXs = new ArrayList<>();
-        public List<Double> targetYs = new ArrayList<>();
-        public List<Double> targetHeadings = new ArrayList<>();
-
-        public List<Double> xs = new ArrayList<>();
-        public List<Double> ys = new ArrayList<>();
-        public List<Double> headings = new ArrayList<>();
-
-        public LogFile(String opModeName) {
-            this.opModeName = opModeName;
-        }
-    }
-
-    public static void recordTargetPose(Pose2d targetPose) {
-        log.targetXs.add(targetPose.position.x);
-        log.targetYs.add(targetPose.position.y);
-        log.targetHeadings.add(targetPose.heading.log());
-    }
-
-    public static void recordPose(Pose2d pose) {
-        // arbitrarily add time here
-        log.nsTimes.add(System.nanoTime());
-
-        log.xs.add(pose.position.x);
-        log.ys.add(pose.position.y);
-        log.headings.add(pose.heading.log());
-    }
-
-    private static final OpModeManagerNotifier.Notifications notifHandler = new OpModeManagerNotifier.Notifications() {
-        @SuppressLint("SimpleDateFormat")
-        final DateFormat dateFormat = new SimpleDateFormat("yyyy_MM_dd__HH_mm_ss_SSS");
-
-        final ObjectWriter jsonWriter = new ObjectMapper(new JsonFactory())
-                .writerWithDefaultPrettyPrinter();
-
-        @Override
-        public void onOpModePreInit(OpMode opMode) {
-            log = new LogFile(opMode.getClass().getCanonicalName());
-
-            // clean up old files
-            File[] fs = Objects.requireNonNull(ROOT.listFiles());
-            Arrays.sort(fs, (a, b) -> Long.compare(a.lastModified(), b.lastModified()));
-            long totalSizeBytes = 0;
-            for (File f : fs) {
-                totalSizeBytes += f.length();
-            }
-
-            int i = 0;
-            while (i < fs.length && totalSizeBytes >= 8 * 1000 * 1000) {
-                totalSizeBytes -= fs[i].length();
-                if (!fs[i].delete()) {
-                    RobotLog.setGlobalErrorMsg("Unable to delete file " + fs[i].getAbsolutePath());
-                }
-                ++i;
-            }
-        }
-
-        @Override
-        public void onOpModePreStart(OpMode opMode) {
-            log.nsStart = System.nanoTime();
-        }
-
-        @Override
-        public void onOpModePostStop(OpMode opMode) {
-            log.nsStop = System.nanoTime();
-
-            if (!(opMode instanceof OpModeManagerImpl.DefaultOpMode)) {
-                String filename = dateFormat.format(new Date(log.msInit)) + "__" + opMode.getClass().getSimpleName() + ".json";
-                File file = new File(ROOT, filename);
-                try {
-                    jsonWriter.writeValue(file, log);
-                } catch (IOException e) {
-                    RobotLog.setGlobalErrorMsg(new RuntimeException(e),
-                            "Unable to write data to " + file.getAbsolutePath());
-                }
-            }
-        }
-    };
-
-    @WebHandlerRegistrar
-    public static void registerRoutes(Context context, WebHandlerManager manager) {
-        //noinspection ResultOfMethodCallIgnored
-        ROOT.mkdirs();
-
-        // op mode manager only stores a weak reference, so we need to keep notifHandler alive ourselves
-        // don't use @OnCreateEventLoop because it's unreliable
-        OpModeManagerImpl.getOpModeManagerOfActivity(
-                AppUtil.getInstance().getActivity()
-        ).registerListener(notifHandler);
-
-        manager.register("/logs", session -> {
-            final StringBuilder sb = new StringBuilder();
-            sb.append("<!doctype html><html><head><title>Logs</title></head><body><ul>");
-            File[] fs = Objects.requireNonNull(ROOT.listFiles());
-            Arrays.sort(fs, (a, b) -> Long.compare(b.lastModified(), a.lastModified()));
-            for (File f : fs) {
-                sb.append("<li><a href=\"/logs/download?file=");
-                sb.append(f.getName());
-                sb.append("\" download=\"");
-                sb.append(f.getName());
-                sb.append("\">");
-                sb.append(f.getName());
-                sb.append("</a></li>");
-            }
-            sb.append("</ul></body></html>");
-            return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.OK,
-                    NanoHTTPD.MIME_HTML, sb.toString());
-        });
-
-        manager.register("/logs/download", session -> {
-            final String[] pairs = session.getQueryParameterString().split("&");
-            if (pairs.length != 1) {
-                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST,
-                        NanoHTTPD.MIME_PLAINTEXT, "expected one query parameter, got " + pairs.length);
-            }
-
-            final String[] parts = pairs[0].split("=");
-            if (!parts[0].equals("file")) {
-                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST,
-                        NanoHTTPD.MIME_PLAINTEXT, "expected file query parameter, got " + parts[0]);
-            }
-
-            File f = new File(ROOT, parts[1]);
-            if (!f.exists()) {
-                return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.NOT_FOUND,
-                        NanoHTTPD.MIME_PLAINTEXT, "file " + f + " doesn't exist");
-            }
-
-            return NanoHTTPD.newChunkedResponse(NanoHTTPD.Response.Status.OK,
-                    "application/json", new FileInputStream(f));
-        });
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxFirmwareVersion.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxFirmwareVersion.java
deleted file mode 100644
index 36649ff..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/LynxFirmwareVersion.java
+++ /dev/null
@@ -1,108 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.robotcore.internal.system.Misc;
-
-import java.util.HashMap;
-import java.util.Map;
-
-/**
- * Parsed representation of a Lynx module firmware version.
- */
-public final class LynxFirmwareVersion implements Comparable<LynxFirmwareVersion> {
-
-    /**
-     * Ensure all of the Lynx modules attached to the robot satisfy the minimum requirement.
-     * @param hardwareMap hardware map containing Lynx modules
-     */
-    public static void throwIfAnyModulesBelowVersion(HardwareMap hardwareMap, LynxFirmwareVersion minVersion) {
-        Map<String, LynxFirmwareVersion> outdatedModules = new HashMap<>();
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            LynxFirmwareVersion version = LynxFirmwareVersion.parse(module.getNullableFirmwareVersionString());
-            if (version == null || version.compareTo(minVersion) < 0) {
-                for (String name : hardwareMap.getNamesOf(module)) {
-                    outdatedModules.put(name, version);
-                }
-            }
-        }
-
-        if (outdatedModules.size() > 0) {
-            StringBuilder msgBuilder = new StringBuilder();
-            msgBuilder.append("One or more of the attached Lynx modules has outdated firmware\n");
-            msgBuilder.append(Misc.formatInvariant("Mandatory minimum firmware version for Road Runner: %s\n",
-                    minVersion.toString()));
-
-            for (Map.Entry<String, LynxFirmwareVersion> entry : outdatedModules.entrySet()) {
-                msgBuilder.append(Misc.formatInvariant(
-                        "\t%s: %s\n", entry.getKey(),
-                        entry.getValue() == null ? "Unknown" : entry.getValue().toString()));
-            }
-
-            throw new RuntimeException(msgBuilder.toString());
-        }
-    }
-
-    /**
-     * Parses Lynx module firmware version string into structured version object. Returns null for
-     * null argument or upon error.
-     */
-    public static LynxFirmwareVersion parse(String s) {
-        if (s == null) {
-            return null;
-        }
-
-        String[] parts = s.split("[ :,]+");
-        try {
-            // note: for now, we ignore the hardware entry
-            return new LynxFirmwareVersion(
-                    Integer.parseInt(parts[3]),
-                    Integer.parseInt(parts[5]),
-                    Integer.parseInt(parts[7])
-            );
-        } catch (NumberFormatException e) {
-            return null;
-        }
-    }
-
-    public final int major, minor, eng;
-
-    public LynxFirmwareVersion(int major, int minor, int eng) {
-        this.major = major;
-        this.minor = minor;
-        this.eng = eng;
-    }
-
-    @Override
-    public boolean equals(Object other) {
-        if (other instanceof LynxFirmwareVersion) {
-            LynxFirmwareVersion otherVersion = (LynxFirmwareVersion) other;
-            return major == otherVersion.major && minor == otherVersion.minor &&
-                    eng == otherVersion.eng;
-        } else {
-            return false;
-        }
-    }
-
-    @Override
-    public int compareTo(LynxFirmwareVersion other) {
-        int majorComp = Integer.compare(major, other.major);
-        if (majorComp == 0) {
-            int minorComp = Integer.compare(minor, other.minor);
-            if (minorComp == 0) {
-                return Integer.compare(eng, other.eng);
-            } else {
-                return minorComp;
-            }
-        } else {
-            return majorComp;
-        }
-    }
-
-    @Override
-    public String toString() {
-        return Misc.formatInvariant("%d.%d.%d", major, minor, eng);
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/MidpointTimer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/MidpointTimer.java
deleted file mode 100644
index 9c09aa5..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/MidpointTimer.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-public final class MidpointTimer {
-    private final long beginTs = System.nanoTime();
-    private long lastTime;
-
-    public double seconds() {
-        return 1e-9 * (System.nanoTime() - beginTs);
-    }
-
-    public double addSplit() {
-        long time = System.nanoTime() - beginTs;
-        double midTimeSecs = 0.5e-9 * (lastTime + time);
-        lastTime = time;
-        return midTimeSecs;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OverflowEncoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OverflowEncoder.java
deleted file mode 100644
index 2918378..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OverflowEncoder.java
+++ /dev/null
@@ -1,63 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-import com.qualcomm.robotcore.hardware.DcMotorController;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-public final class OverflowEncoder implements Encoder {
-    // encoder velocities are sent as 16-bit ints
-    // by the time they reach here, they are widened into an int and possibly negated
-    private static final int CPS_STEP = 0x10000;
-
-    private static int inverseOverflow(int input, double estimate) {
-        // convert to uint16
-        int real = input & 0xFFFF;
-        // initial, modulo-based correction: it can recover the remainder of 5 of the upper 16 bits
-        // because the velocity is always a multiple of 20 cps due to Expansion Hub's 50ms measurement window
-        real += ((real % 20) / 4) * CPS_STEP;
-        // estimate-based correction: it finds the nearest multiple of 5 to correct the upper bits by
-        real += Math.round((estimate - real) / (5 * CPS_STEP)) * 5 * CPS_STEP;
-        return real;
-    }
-
-    public final RawEncoder encoder;
-
-    private int lastPosition;
-    private final ElapsedTime lastUpdate;
-
-    private final RollingThreeMedian velEstimate;
-
-    public OverflowEncoder(RawEncoder e) {
-        encoder = e;
-
-        lastPosition = e.getPositionAndVelocity().position;
-        lastUpdate = new ElapsedTime();
-
-        velEstimate = new RollingThreeMedian();
-    }
-
-    @Override
-    public PositionVelocityPair getPositionAndVelocity() {
-        PositionVelocityPair p = encoder.getPositionAndVelocity();
-        double dt = lastUpdate.seconds();
-        double v = velEstimate.update((p.position - lastPosition) / dt);
-
-        lastPosition = p.position;
-        lastUpdate.reset();
-
-        return new PositionVelocityPair(
-                p.position,
-                inverseOverflow(p.velocity, v)
-        );
-    }
-
-    @Override
-    public DcMotorController getController() {
-        return encoder.getController();
-    }
-
-    @Override
-    public void setDirection(DcMotorSimple.Direction direction) {
-        encoder.setDirection(direction);
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Paths.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Paths.java
deleted file mode 100644
index 9077a39..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Paths.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-import com.acmerobotics.roadrunner.Curves;
-import com.acmerobotics.roadrunner.PosePath;
-import com.acmerobotics.roadrunner.Vector2d;
-
-import java.util.List;
-
-public final class Paths {
-    private Paths() {
-
-    }
-
-    // at least 6 inch resolution
-    public static double project(PosePath path, Vector2d query) {
-        List<Double> xs = com.acmerobotics.roadrunner.Math.range(
-                0.0, path.length(), (int) Math.ceil(path.length() / 6.0));
-        double champDisp = Curves.project(path, query, xs.get(0));
-        final Vector2d initVec = path.get(champDisp, 1).position.value();
-        double champSqrNorm = initVec.minus(query).sqrNorm();
-        for (int i = 1; i < xs.size(); i++) {
-            double disp = Curves.project(path, query, xs.get(i));
-            Vector2d vec = path.get(disp, 1).position.value();
-            double sqrNorm = vec.minus(query).sqrNorm();
-
-            if (sqrNorm < champSqrNorm) {
-                champDisp = disp;
-                champSqrNorm = sqrNorm;
-            }
-        }
-
-        return champDisp;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RawEncoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RawEncoder.java
deleted file mode 100644
index 7332bbe..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RawEncoder.java
+++ /dev/null
@@ -1,44 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-import com.qualcomm.robotcore.hardware.DcMotorController;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-
-public final class RawEncoder implements Encoder {
-    private final DcMotorEx m;
-    public DcMotorSimple.Direction direction = DcMotorSimple.Direction.FORWARD;
-
-    public RawEncoder(DcMotorEx m) {
-        this.m = m;
-    }
-
-    private int applyDirection(int x) {
-        if (m.getDirection() == DcMotorSimple.Direction.REVERSE) {
-            x = -x;
-        }
-
-        if (direction == DcMotorSimple.Direction.REVERSE) {
-            x = -x;
-        }
-
-        return x;
-    }
-
-    @Override
-    public PositionVelocityPair getPositionAndVelocity() {
-        return new PositionVelocityPair(
-                applyDirection(m.getCurrentPosition()),
-                applyDirection((int) m.getVelocity())
-        );
-    }
-
-    @Override
-    public DcMotorController getController() {
-        return m.getController();
-    }
-
-    @Override
-    public void setDirection(DcMotorSimple.Direction direction) {
-        this.direction = direction;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RollingThreeMedian.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RollingThreeMedian.java
deleted file mode 100644
index 598dd47..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/RollingThreeMedian.java
+++ /dev/null
@@ -1,16 +0,0 @@
-package org.firstinspires.ftc.teamcode.util;
-
-public final class RollingThreeMedian {
-    private final double[] history = new double[3];
-    private int i;
-
-    public double update(double x) {
-        history[i] = x;
-
-        i = (i + 1) % 3;
-
-        return history[0] + history[1] + history[2]
-                - Math.min(history[0], Math.min(history[1], history[2]))
-                - Math.max(history[0], Math.max(history[1], history[2]));
-    }
-}